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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/foundationpose_env.sh
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#!/usr/bin/env bash
# Source this file before building or running FoundationPose.
FP_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
unset PYTHONPATH LD_LIBRARY_PATH
export CUDA_HOME="$FP_ROOT/.cuda/usr/local/cuda-12.8"
export PATH="$FP_ROOT/.venv/bin:$CUDA_HOME/bin:$PATH"
export TORCH_CUDA_ARCH_LIST=8.6
export MAX_JOBS=2
export PIP_CACHE_DIR="$FP_ROOT/.cache/pip"
export TORCH_EXTENSIONS_DIR="$FP_ROOT/.cache/torch_extensions"
export XDG_CACHE_HOME="$FP_ROOT/.cache"
export MPLCONFIGDIR="$FP_ROOT/.cache/matplotlib"
export CPATH="$CUDA_HOME/include"
for fp_inc in /home/timessage/python_envs/unitree_rl_mjlab/lib/python3.11/site-packages/nvidia/*/include; do
export CPATH="$CPATH:$fp_inc"
done
unset fp_inc