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>
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
@@ -0,0 +1,41 @@
+# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+
+from setuptools import setup
+import os,sys
+from torch.utils.cpp_extension import BuildExtension, CUDAExtension
+from torch.utils.cpp_extension import load
+
+code_dir = os.path.dirname(os.path.realpath(__file__))
+
+
+nvcc_flags = ['-Xcompiler', '-O3', '-std=c++14', '-U__CUDA_NO_HALF_OPERATORS__', '-U__CUDA_NO_HALF_CONVERSIONS__', '-U__CUDA_NO_HALF2_OPERATORS__']
+c_flags = ['-O3', '-std=c++14']
+
+setup(
+    name='common',
+    extra_cflags=c_flags,
+    extra_cuda_cflags=nvcc_flags,
+    ext_modules=[
+        CUDAExtension('common', [
+            'bindings.cpp',
+            'common.cu',
+        ],extra_compile_args={'gcc': c_flags, 'nvcc': nvcc_flags}),
+        CUDAExtension('gridencoder', [
+            f"{code_dir}/torch_ngp_grid_encoder/gridencoder.cu",
+            f"{code_dir}/torch_ngp_grid_encoder/bindings.cpp",
+        ],extra_compile_args={'gcc': c_flags, 'nvcc': nvcc_flags}),
+    ],
+    include_dirs=[
+        "/usr/local/include/eigen3",
+        "/usr/include/eigen3",
+    ],
+    cmdclass={
+        'build_ext': BuildExtension
+})