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Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS

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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>
This commit is contained in:
liyang
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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third_party/spider/examples/run_mjwp.py
Vendored
+4 -1
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@@ -118,7 +118,10 @@ def _assert_object_actuator_gains_zero(
if biasprm.ndim == 3:
biasprm = biasprm[0]
kp = gainprm[actuator_ids, 0]
kd = -biasprm[actuator_ids, 1]
kd = -biasprm[actuator_ids, 2]
assert np.allclose(biasprm[actuator_ids], 0.0, atol=atol), (
f"Object actuator affine bias not zero at {stage}"
)
assert np.allclose(kp, 0.0, atol=atol), (
f"Object actuator Kp not near zero at {stage}: max={np.max(np.abs(kp))}"
)