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
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+# 按尺寸重新建立的理想化瓶子
+
+高度 **157.856 mm**，最大直径 **54.110 mm**。这两个尺寸沿用用户提供的瓶子资产；不再使用其异常收腰的半径轮廓。
+
+圆柱瓶身高 103 mm，锥形瓶肩至 139 mm，瓶颈直径 28 mm，顶端总高 157.856 mm。瓶肩和瓶颈比例是设计选择，没有宣称还原实物细节。顶底封闭，无内壁、瓶底凹槽、螺纹或独立瓶盖。
+
+- `bottle.xml`：可直接加载的 MuJoCo 自由瓶子；视觉网格与三段碰撞几何使用同一轮廓。
+- `assets/bottle.obj`、`bottle.stl`、`bottle.glb`：网格格式，均以米为单位。
+- `preview.png`：预览；`validation.json`：尺寸、封闭性及加载检查。
+- `profile.npz`：新设计的高度/半径控制点。
+
+碰撞为圆柱瓶身、凸锥台瓶肩、圆柱瓶颈，去掉旧版十段忽大忽小的圆柱。质量暂沿用旧 XML 的 0.2308 kg，惯量按均匀实心模型重算；质量、材料及质量分布未实测。原始三目资产未修改。
+
+重建命令：`env PYTHONPATH= LD_LIBRARY_PATH= .dex/bin/python scripts/build_parametric_bottle.py`。
+
+新资产已接入 `output/l20_2047635068/bottle_grasp_v2/contact_scene.xml` 并通过加载检查。该场景是后续抓取优化入口，尚未运行新版物理抓取验证。
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+<mujoco model="dimension_based_bottle">
+  <option gravity="0 0 -9.81" />
+  <asset>
+    <mesh name="bottle_visual" file="assets/bottle.obj" />
+    <mesh name="bottle_shoulder" file="assets/shoulder.obj" />
+  </asset>
+  <worldbody>
+    <body name="bottle">
+      <freejoint name="bottle_freejoint" />
+      <inertial mass=".2308" pos="1.10250386217449e-19 9.190620430899951e-19 0.06616881962256083" diaginertia="0.0004053028305440948 0.0004053028305440948 7.742359133762652e-05" />
+      <geom type="mesh" mesh="bottle_visual" group="1" contype="0" conaffinity="0" rgba=".68 .74 .8 1" />
+      <geom type="cylinder" size="0.027055 0.0515" pos="0 0 0.0515" group="3" friction=".6 .005 .001" condim="6" />
+      <geom type="mesh" mesh="bottle_shoulder" group="3" friction=".6 .005 .001" condim="6" />
+      <geom type="cylinder" size="0.014 0.009427999999999992" pos="0 0 0.148428" group="3" friction=".6 .005 .001" condim="6" />
+    </body>
+  </worldbody>
+</mujoco>
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+{
+  "height_mm": 157.856,
+  "max_diameter_mm": 54.11,
+  "neck_diameter_mm": 28.0,
+  "watertight": true,
+  "winding_consistent": true,
+  "volume_m3": 0.000297608913283581,
+  "mujoco_load_passed": true,
+  "collision_parts": 3,
+  "extent_m": [
+    0.05411,
+    0.05411,
+    0.157856
+  ],
+  "shape_source": "Idealized cylinder body, tapered shoulder, cylinder neck; only height and maximum diameter inherited",
+  "mass_source": "Previous XML mass 0.2308 kg retained; uniform solid inertia recomputed, not measured"
+}