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/weights/2023-10-28-18-33-37/config.yml

@@ -0,0 +1,39 @@
+lr: 0.0001
+c_in: 6
+zfar: 'Infinity'
+debug: null
+w_rot: 0.1
+n_view: 1
+run_id: null
+use_BN: true
+rot_rep: axis_angle
+ckpt_dir: null
+exp_name: 2023-10-28-18-33-37
+save_dir: /tmp/2023-10-28-18-33-37/
+loss_type: l2
+optimizer: adam
+trans_rep: tracknet
+batch_size: 64
+crop_ratio: 1.2
+use_normal: false
+BN_momentum: 0.1
+max_num_key: null
+warmup_step: -1
+input_resize:
+- 160
+- 160
+max_step_val: 1000
+normal_uint8: false
+vis_interval: 1000
+weight_decay: 0
+n_max_objects: null
+normalize_xyz: true
+clip_grad_norm: 'Infinity'
+rot_normalizer: 0.3490658503988659
+trans_normalizer:
+- 0.019999999552965164
+- 0.019999999552965164
+- 0.05000000074505806
+max_step_per_epoch: 25000
+val_epoch_interval: 10
+n_dataloader_workers: 60

third_party/FoundationPose/weights/2024-01-11-20-02-45/config.yml

@@ -0,0 +1,41 @@
+lr: 0.0001
+c_in: 6
+zfar: 'Infinity'
+debug: null
+n_view: 1
+run_id: 3wy8qqex
+use_BN: true
+exp_name: 2024-01-11-20-02-45
+n_epochs: 62
+save_dir: /home/bowenw/debug/2024-01-11-20-02-45/
+use_mask: false
+loss_type: pairwise_valid
+optimizer: adam
+batch_size: 64
+crop_ratio: 1.1
+enable_amp: true
+use_normal: false
+max_num_key: null
+warmup_step: -1
+input_resize:
+- 160
+- 160
+max_step_val: 1000
+vis_interval: 1000
+weight_decay: 0
+normalize_xyz: true
+resume_run_id: null
+clip_grad_norm: 'Infinity'
+lr_epoch_decay: 500
+render_backend: nvdiffrast
+train_num_pair: 5
+lr_decay_epochs:
+- 50
+n_epochs_warmup: 1
+make_pair_online: false
+gradient_max_norm: 'Infinity'
+max_step_per_epoch: 10000
+n_rendering_workers: 1
+save_epoch_interval: 100
+n_dataloader_workers: 100
+split_objects_across_gpus: true

third_party/FoundationPose/weights/download_manifest.json

@@ -0,0 +1,30 @@
+{
+  "source": "community mirror gpue/foundationpose-weights; official Google Drive quota exceeded",
+  "verification": "size and mirror LFS SHA256; not independently compared to official files",
+  "files": [
+    {
+      "path": "2023-10-28-18-33-37/config.yml",
+      "size": 708,
+      "sha256": "28a6ba94a33230ee5fc3c51939486281578b0972542bd9e38ca6123e75605686",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2023-10-28-18-33-37/config.yml"
+    },
+    {
+      "path": "2023-10-28-18-33-37/model_best.pth",
+      "size": 68220109,
+      "sha256": "774700586ddc435d408fc01c9809c43e151232936369dfbea0f0f964ba471d60",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2023-10-28-18-33-37/model_best.pth"
+    },
+    {
+      "path": "2024-01-11-20-02-45/config.yml",
+      "size": 778,
+      "sha256": "a79db4de3b95885dd5ae86833b37b8698a75dad81e87d1086cd50b2fcd8dda3f",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2024-01-11-20-02-45/config.yml"
+    },
+    {
+      "path": "2024-01-11-20-02-45/model_best.pth",
+      "size": 190229389,
+      "sha256": "81924d384bf5c26c646ee4783104982ae3d1e049c181c36641b6a7aeae494c26",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2024-01-11-20-02-45/model_best.pth"
+    }
+  ]
+}