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

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>

scripts/decompose_yesterday_boxes.py

@@ -0,0 +1,13 @@
+from pathlib import Path
+import numpy as np,trimesh,coacd,json
+ROOT=Path(__file__).resolve().parents[1];out=ROOT/'output/foundationpose_spider_20260915/collision';out.mkdir(exist_ok=True)
+coacd.set_log_level('warn');report={}
+for name,file in [('upper','上半.stl'),('lower','下半.stl')]:
+ m=trimesh.load(ROOT/'docs'/file)
+ if name=='upper':m=trimesh.load(ROOT/'output/depth_ablation_red_20260916/red_box_closed.ply',process=False)
+ print(name,'watertight',m.is_watertight,flush=True)
+ parts=coacd.run_coacd(coacd.Mesh(m.vertices,m.faces),threshold=.03,max_convex_hull=20,preprocess_mode='auto',preprocess_resolution=60,resolution=1500,mcts_nodes=10,mcts_iterations=60,mcts_max_depth=3,merge=True,seed=0)
+ for i,(v,f) in enumerate(parts):trimesh.Trimesh(v,f,process=False).export(out/f'{name}_{i:03d}.obj')
+ report[name]={'parts':len(parts),'mesh_volume_m3':m.volume,'hull_volume_sum_m3':sum(trimesh.Trimesh(v,f,process=False).volume for v,f in parts),'approximation':'CoACD convex decomposition, threshold .03; not exact CAD collision'}
+ print(name,report[name],flush=True)
+(out/'manifest.json').write_text(json.dumps(report,indent=2))