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/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