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>

third_party/FoundationPose/mycpp/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.15)
+project(mycpp)
+
+
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -fopenmp -g3 -O3")
+
+
+find_package(Boost REQUIRED COMPONENTS system program_options)
+find_package(OpenMP REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(pybind11 REQUIRED)
+
+include_directories(
+  include
+  ${BLAS_INCLUDE_DIR}
+)
+
+file(GLOB MY_SRC ${PROJECT_SOURCE_DIR}/src/*.cpp)
+
+set(PYBIND11_CPP_STANDARD -std=c++14)
+
+pybind11_add_module(mycpp src/app/pybind_api.cpp ${MY_SRC})
+target_link_libraries(mycpp PRIVATE ${Boost_LIBRARIES} ${OpenMP_CXX_FLAGS} Eigen3::Eigen)

third_party/FoundationPose/mycpp/include/Utils.h

@@ -0,0 +1,46 @@
+/*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.
+*/
+
+
+#pragma once
+
+// STL
+#include <iostream>
+#include <string>
+#include <map>
+#include <vector>
+#include <cmath>
+#include <time.h>
+#include <queue>
+#include <climits>
+#include <tuple>
+#include <unordered_map>
+#include <boost/assign.hpp>
+#include <thread>
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#include <string>
+#include <limits.h>
+#include <unistd.h>
+#include <memory>
+#include <math.h>
+#include <boost/format.hpp>
+#include <numeric>
+#include <thread>
+#include <omp.h>
+
+
+using vectorMatrix4f = std::vector<Eigen::Matrix4f,Eigen::aligned_allocator<Eigen::Matrix4f>>;
+
+
+namespace Utils
+{
+float rotationGeodesicDistance(const Eigen::Matrix3f &R1, const Eigen::Matrix3f &R2);
+
+} // namespace Utils

third_party/FoundationPose/mycpp/src/Utils.cpp

@@ -0,0 +1,29 @@
+/*
+# 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.
+*/
+
+
+#include "Utils.h"
+
+
+
+namespace Utils
+{
+
+
+// Difference angle in radian
+float rotationGeodesicDistance(const Eigen::Matrix3f &R1, const Eigen::Matrix3f &R2)
+{
+  float cos = ((R1 * R2.transpose()).trace()-1) / 2.0;
+  cos = std::max(std::min(cos, 1.0f), -1.0f);
+  return std::acos(cos);
+}
+
+
+} // namespace Utils

third_party/FoundationPose/mycpp/src/app/pybind_api.cpp

@@ -0,0 +1,77 @@
+/*
+# 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.
+*/
+
+
+#include "Utils.h"
+#include <boost/algorithm/string.hpp>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <pybind11/eigen.h>
+
+namespace py = pybind11;
+
+
+
+//@angle_diff: unit is degree
+//@dist_diff: unit is meter
+vectorMatrix4f cluster_poses(float angle_diff, float dist_diff, const vectorMatrix4f &poses_in, const vectorMatrix4f &symmetry_tfs)
+{
+  printf("num original candidates = %d\n",poses_in.size());
+  vectorMatrix4f poses_out;
+  poses_out.push_back(poses_in[0]);
+
+  const float radian_thres = angle_diff/180.0*M_PI;
+
+  for (int i=1;i<poses_in.size();i++)
+  {
+    bool isnew = true;
+    Eigen::Matrix4f cur_pose = poses_in[i];
+    for (const auto &cluster:poses_out)
+    {
+      Eigen::Vector3f t0 = cluster.block(0,3,3,1);
+      Eigen::Vector3f t1 = cur_pose.block(0,3,3,1);
+
+      if ((t0-t1).norm()>=dist_diff)
+      {
+        continue;
+      }
+
+      for (const auto &tf: symmetry_tfs)
+      {
+        Eigen::Matrix4f cur_pose_tmp = cur_pose*tf;
+        float rot_diff = Utils::rotationGeodesicDistance(cur_pose_tmp.block(0,0,3,3), cluster.block(0,0,3,3));
+        if (rot_diff < radian_thres)
+        {
+          isnew = false;
+          break;
+        }
+      }
+
+      if (!isnew) break;
+    }
+
+    if (isnew)
+    {
+      poses_out.push_back(poses_in[i]);
+    }
+  }
+
+  printf("num of pose after clustering: %d\n",poses_out.size());
+  return poses_out;
+}
+
+
+
+
+
+PYBIND11_MODULE(mycpp, m)
+{
+  m.def("cluster_poses", &cluster_poses, py::call_guard<py::gil_scoped_release>());
+}