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Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS

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Source: RGB-D -> Dyn-HaMR -> L20 retargeting -> FoundationPose -> reference repair -> SPIDER,
documented in docs/PIPELINE_LATEST.md and docs/SETUP_AND_WEIGHTS.md. Adds FoundationPose and
nvdiffrast upstream snapshots, requirements/pipeline_venv.txt and the FoundationPose weight
manifest/downloader.

Assets (Git LFS): weights/ (WiLoR detector, HandFlow denoiser, UniDepth-L), FoundationPose
checkpoints, HaMeR checkpoint, Dyn-HaMR HMP model and BMC constraints, L20 URDF/meshes, the
20260915_171525 D405 recording and the two box CADs. MANO models are not redistributed
(third_party/hamer/_DATA/data/mano/README.txt). Environments, caches and run outputs excluded.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
This commit is contained in:
liyang
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
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scripts/configure_spider_stable_contact.py
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"""Apply contact settings selected by the matched CPU/GPU short replay probe."""
from pathlib import Path
import json,xml.etree.ElementTree as ET
O=Path(__file__).resolve().parents[1]/'output/spider_dynamics_fix_20260915';p=O/'datasets/processed/current/l20/bimanual/boxes/scene_act.xml';tree=ET.parse(p)
for g in tree.findall('.//geom'):
g.set('solimp','.9 .95 .001 .5 2');g.set('solref','.02 1')
if g.get('contype') in ['1','2']:g.set('margin','.004');g.set('gap','.002')
tree.write(p)
s=json.loads((O/'physics_parameters.json').read_text());s.update(contact_solimp=[.9,.95,.001,.5,2],contact_solref=[.02,1],contact_activation_distance_m=.002,note='Contact regularization and 2 mm activation distance selected from GPU/CPU short replay. Simulation parameters, not measured hardware.');(O/'physics_parameters.json').write_text(json.dumps(s,indent=2))