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>

.gitattributes

@@ -0,0 +1,17 @@
+# Large binaries go through Git LFS
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.ply filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.mkv filter=lfs diff=lfs merge=lfs -text
+*.tar.gz filter=lfs diff=lfs merge=lfs -text
+*.part-[0-9][0-9][0-9] filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -1,14 +1,11 @@
-# Source snapshot: runtime exclusions anchored to repository root.
+# Environments, toolchains and caches are never committed (see docs/SETUP_AND_WEIGHTS.md)
-/output/
-/results/
-/logs/
-/weights/
-/dist/
 /.venv/
 /venv/
 /.dex/
 /.spider/
+/third_party/Dyn-HaMR/.dynhamr/
 /.cuda/
+/.cache/
 /.hf_cache/
 /.torch_cache/
 /.spider_cache/
@@ -16,3 +13,31 @@
 /.env
 __pycache__/
 *.pyc
+*.egg-info/
+/third_party/*/build/
+/third_party/FoundationPose/mycpp/build/
+*.part
+*.aria2
+# Run outputs and packaged releases
+/output/
+/results/
+/logs/
+/dist/
+# Licensed models that every user must obtain themselves (MANO)
+/third_party/hamer/_DATA/data/mano/*.pkl
+# Local tooling
+.claude/
+CLAUDE.md
+.vscode/
+.idea/
+# Reassembled from *.part-NNN chunks by scripts/large_files.py (never committed whole: server limit 50 MB/request)
+/third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt
+/weights/unidepth-v2-vitl14/model.safetensors
+/weights/handflow_denoiser.pt
+/weights/detector.pt
+/third_party/Dyn-HaMR/_DATA/hmp_model/results/model/optimizer.pth
+/third_party/Dyn-HaMR/_DATA/hmp_model/results/model/local_encoder.pth
+/third_party/Dyn-HaMR/_DATA/hmp_model/results/model/nemf.pth
+/third_party/Dyn-HaMR/dyn-hamr/optim/BMC/joint_angles.npy
+/third_party/FoundationPose/weights/2024-01-11-20-02-45/model_best.pth
+/third_party/FoundationPose/weights/2023-10-28-18-33-37/model_best.pth

PORTABILITY_REPORT.json

@@ -14,6 +14,146 @@
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+  },
+  {
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+    "line": 165,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_camera_delivery.py",
+    "line": 205,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_dynhamr_bimanual_rgbd.py",
+    "line": 4,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_dynhamr_bimanual_rgbd.py",
+    "line": 5,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_dynhamr_bimanual_rgbd.py",
+    "line": 6,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_dynhamr_bimanual_rgbd.py",
+    "line": 11,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_dynhamr_bimanual_rgbd.py",
+    "line": 16,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/export_dynhamr_bimanual_rgbd.py",
+    "line": 17,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/export_dynhamr_dex.py",
     "line": 15,
@@ -39,6 +179,16 @@
     "line": 110,
     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/fit_rgbd_objects.py",
+    "line": 12,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/foundationpose_env.sh",
+    "line": 14,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/l20_bottle_physics.py",
     "line": 13,
@@ -66,7 +216,22 @@
   },
   {
     "path": "scripts/package_source_release.py",
-    "line": 60,
+    "line": 63,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/package_source_release.py",
+    "line": 115,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/package_source_release.py",
+    "line": 118,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/prepare_rgbd_20260915.py",
+    "line": 12,
     "kind": "machine path or fixed example identifier"
   },
   {
@@ -74,6 +239,106 @@
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     "kind": "machine path or fixed example identifier"
   },
+  {
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+    "line": 10,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/prepare_yesterday_spider.py",
+    "line": 14,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/prepare_yesterday_spider.py",
+    "line": 15,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/refit_rgbd_objects_outline.py",
+    "line": 7,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/refit_rgbd_objects_outline.py",
+    "line": 8,
+    "kind": "machine path or fixed example identifier"
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+  {
+    "path": "scripts/refit_rgbd_objects_outline.py",
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+    "kind": "machine path or fixed example identifier"
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+  {
+    "path": "scripts/refit_rgbd_objects_outline.py",
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+    "kind": "machine path or fixed example identifier"
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+  {
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+    "path": "scripts/refit_rgbd_objects_tracked.py",
+    "line": 39,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/register_hands_rgbd.py",
+    "line": 9,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/register_hands_rgbd.py",
+    "line": 22,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/register_hands_rgbd.py",
+    "line": 23,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_collision_fix.py",
+    "line": 13,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_corrected_dynhamr_rgbd.py",
+    "line": 3,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_corrected_dynhamr_rgbd.py",
+    "line": 4,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_corrected_dynhamr_rgbd.py",
+    "line": 10,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_corrected_dynhamr_rgbd.py",
+    "line": 11,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_foundationpose_red.py",
+    "line": 8,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/render_l20.py",
     "line": 13,
@@ -99,6 +364,46 @@
     "line": 15,
     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/render_object_alignment_overlay.py",
+    "line": 4,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_object_alignment_overlay.py",
+    "line": 6,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_red_depth_comparison.py",
+    "line": 21,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_rgbd_l20_objects.py",
+    "line": 11,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/render_rgbd_l20_objects.py",
+    "line": 13,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/report_collision_fix.py",
+    "line": 8,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/report_spider_dynamics_fix.py",
+    "line": 13,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/report_yesterday_spider.py",
+    "line": 10,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/resume_dynhamr_2047635068.py",
     "line": 41,
@@ -134,6 +439,21 @@
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     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/run_dynhamr_rgbd_20260915.py",
+    "line": 10,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/run_dynhamr_rgbd_20260915.py",
+    "line": 12,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/run_dynhamr_rgbd_20260915.py",
+    "line": 32,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/run_handflow_15886123.py",
     "line": 9,
@@ -144,11 +464,51 @@
     "line": 23,
     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/run_red_handflow_comparison.py",
+    "line": 4,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/run_red_mirrored_handflow.py",
+    "line": 4,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/run_rgbd_20260915.py",
+    "line": 1,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/run_rgbd_20260915.py",
+    "line": 15,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/run_rgbd_20260915.py",
+    "line": 16,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/smooth_l20_offline.py",
     "line": 8,
     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/smooth_object_reference.py",
+    "line": 5,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/smooth_object_reference.py",
+    "line": 21,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/smooth_refitted_objects.py",
+    "line": 5,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/stabilize_l20_temporal.py",
     "line": 19,
@@ -159,6 +519,31 @@
     "line": 20,
     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/track_red_box_foundationpose.py",
+    "line": 26,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/track_yesterday_boxes.py",
+    "line": 10,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/track_yesterday_boxes.py",
+    "line": 11,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/unmirror_left_rgbd.py",
+    "line": 5,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "scripts/unmirror_left_rgbd.py",
+    "line": 13,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "scripts/verify_dex_video.py",
     "line": 6,
@@ -169,6 +554,11 @@
     "line": 6,
     "kind": "machine path or fixed example identifier"
   },
+  {
+    "path": "scripts/verify_rgbd_bimanual.py",
+    "line": 7,
+    "kind": "machine path or fixed example identifier"
+  },
   {
     "path": "third_party/hamer/hamer/configs/datasets_eval.yaml",
     "line": 4,
@@ -433,5 +823,25 @@
     "path": "third_party/spider/spider/simulators/maniptrans.py",
     "line": 1317,
     "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "third_party/FoundationPose/bundlesdf/run_nerf.py",
+    "line": 18,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "third_party/FoundationPose/docker/run_container.sh",
+    "line": 3,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "third_party/FoundationPose/estimater.py",
+    "line": 19,
+    "kind": "machine path or fixed example identifier"
+  },
+  {
+    "path": "third_party/FoundationPose/estimater.py",
+    "line": 69,
+    "kind": "machine path or fixed example identifier"
   }
 ]

README.md

@@ -1,15 +1,20 @@
 # Hand Motion Pipeline：Dyn-HaMR · dex-retargeting · SPIDER
 
-在 HandFlow 工作区中集成单目人手重建、L20 右手重定向、接触优化实验和 HDF5 轨迹导出。
+在 HandFlow 工作区中集成 RGB-D / 单目人手重建（Dyn-HaMR、HandFlow）、L20 左右手重定向、FoundationPose 物体跟踪、手物参考修复、SPIDER 接触优化实验和 HDF5 轨迹导出。
 
 ```text
-视频 → Dyn-HaMR / HandFlow + ViPE → 人手世界轨迹
+D405 RGB-D 视频 → 静态背景里程计 → Dyn-HaMR 双手世界轨迹（也可 HandFlow / ViPE 单目分支）
-     → dex-retargeting + L20 模型约束 → 机器人腕部与关节轨迹
+     → dex-retargeting + L20 左右手 URDF → 机器人腕部与关节轨迹
-     → SPIDER 接触引导实验 / 完整运动学回放 → HDF5
+     → FoundationPose 物体 6D 跟踪 → 手物配准 → 碰撞修复 / 桌面约束 / 平滑投影 → 运动学参考
+     → SPIDER 接触引导物理滚动（MuJoCo Warp）→ 审计 / 回放 / HDF5
 ```
 
 ## 从这里开始
 
+- **[最新流程（RGB-D 双手 → Dyn-HaMR → L20 重定向 → FoundationPose → 参考修复 → SPIDER）](docs/PIPELINE_LATEST.md)** ← 当前交付链路，按此执行
+- [安装依赖、环境与权重下载](docs/SETUP_AND_WEIGHTS.md) ← 部署先看这个
+- 克隆本仓库后：`git lfs pull && python3 scripts/large_files.py assemble`（大于 50 MB 的权重是分片存放的，见 SETUP §4.0）
+- [环境变量配置模板](configs/project_env.example.sh)
 - [集成结构、环境、运行顺序与上传步骤](docs/INTEGRATED_PROJECT.md)
 - [重定向方法、验证与限制](docs/retargeting_workflow_and_lessons_zh.md)
 - [HDF5 原始接口要求](docs/HDF5_REQUIREMENTS.md)：原文为左手；当前导出为明确标记的右手变体。

RELEASE_VALIDATION.json

@@ -1,10 +1,10 @@
 {
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+  "local_python_syntax_checked": 131,
   "shell_syntax": "PASS",
-  "source_files": 7000,
+  "source_files": 7166,
-  "bytes": 59113672,
+  "bytes": 60649184,
-  "portability_findings": 87,
+  "portability_findings": 169,
-  "excluded_files": 1440,
+  "excluded_files": 2789,
   "end_to_end_reconstruction_rerun": false,
   "remote_upload_performed": false
 }

SHA256SUMS

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 9746ccde567081321d0d549e471c6445ca7669fdbfa0b460988e744fdb69a1c1  third_party/spider/spider/simulators/mjwp_test.py
 c76e1502bb50a2280eac7e673fe3891444a348a20860bbf79d12f35a2c28d0eb  third_party/spider/spider/tasks/__init__.py

UPSTREAM_SOURCES.json

@@ -30,7 +30,7 @@
     "path": "third_party/Dyn-HaMR",
     "commit": "fa9cd7412c205fd15ee4139c8caacf79bf6167e6",
     "origin": "https://github.com/ZhengdiYu/Dyn-HaMR.git",
-    "local_changes": "M dyn-hamr/HMP/fitting.py\n M dyn-hamr/data/vidproc.py\n M dyn-hamr/optim/base_scene.py\n M dyn-hamr/run_opt.py\n?? dyn-hamr/HMP/windowed.py\n?? third-party/Hand-BMC-pytorch-main/",
+    "local_changes": "M dyn-hamr/HMP/fitting.py\n M dyn-hamr/data/vidproc.py\n M dyn-hamr/optim/base_scene.py\n M dyn-hamr/run_opt.py\n M dyn-hamr/vis/tools.py\n M dyn-hamr/vis/viewer.py\n?? dyn-hamr/HMP/windowed.py\n?? third-party/Hand-BMC-pytorch-main/",
     "snapshot": "working tree content; tracked files plus source additions"
   },
   {
@@ -65,7 +65,21 @@
     "path": "third_party/spider",
     "commit": "71238456bf97a7eeb3d0471aa31974e2d404d4ae",
     "origin": "https://github.com/facebookresearch/spider.git",
+    "local_changes": "M examples/run_mjwp.py\n M spider/optimizers/sampling.py\n M spider/simulators/mjwp.py",
+    "snapshot": "working tree content; tracked files plus source additions"
+  },
+  {
+    "path": "third_party/FoundationPose",
+    "commit": "a1b694b83e633c2cb6115b9063d940a687759392",
+    "origin": "https://github.com/NVlabs/FoundationPose.git",
     "local_changes": "",
     "snapshot": "working tree content; tracked files plus source additions"
+  },
+  {
+    "path": "third_party/nvdiffrast",
+    "commit": "253ac4fcea7de5f396371124af597e6cc957bfae",
+    "origin": "https://github.com/NVlabs/nvdiffrast.git",
+    "local_changes": "?? build/\n?? nvdiffrast.egg-info/",
+    "snapshot": "working tree content; tracked files plus source additions"
   }
 ]

configs/foundationpose_weights_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"
+    }
+  ]
+}

configs/large_files.json

@@ -0,0 +1,65 @@
+{
+  "chunk_bytes": 50331648,
+  "files": [
+    {
+      "path": "third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt",
+      "bytes": 2689536166,
+      "sha256": "e5cc06f294d88a92dee24e603480aab04de532b49f0e08200804ee7d90e16f53",
+      "parts": 54
+    },
+    {
+      "path": "weights/unidepth-v2-vitl14/model.safetensors",
+      "bytes": 1415383604,
+      "sha256": "ba73d3de735302ccc64a50f1e557122050c4b1893e6060b28dba05d6af3e67c6",
+      "parts": 29
+    },
+    {
+      "path": "weights/handflow_denoiser.pt",
+      "bytes": 667907131,
+      "sha256": "2fbc4e1fa7a60f469a6ac94933a6e6dc8a86a0e1fc13bd7cd81c430c79acfcda",
+      "parts": 14
+    },
+    {
+      "path": "weights/detector.pt",
+      "bytes": 53582271,
+      "sha256": "5ef3df44e42d2db52d4ffe91f83a22ce9925e2acc9abebf453f2c5d22e380033",
+      "parts": 2
+    },
+    {
+      "path": "third_party/Dyn-HaMR/_DATA/hmp_model/results/model/optimizer.pth",
+      "bytes": 541530298,
+      "sha256": "ea48b2b6d4a8bebff41b72a6f034db5506b488c8b4f114709c58b67953d2ce8d",
+      "parts": 11
+    },
+    {
+      "path": "third_party/Dyn-HaMR/_DATA/hmp_model/results/model/local_encoder.pth",
+      "bytes": 161190688,
+      "sha256": "89db49f42b98986121ff0b2152b89c045f6d66945434bf38e6f21981e70ea82b",
+      "parts": 4
+    },
+    {
+      "path": "third_party/Dyn-HaMR/_DATA/hmp_model/results/model/nemf.pth",
+      "bytes": 92620900,
+      "sha256": "cbb9d5bae07de807c13f02128b18e1b7b5f31e6626bdda16b800e636753004ff",
+      "parts": 2
+    },
+    {
+      "path": "third_party/Dyn-HaMR/dyn-hamr/optim/BMC/joint_angles.npy",
+      "bytes": 90116528,
+      "sha256": "92c96d1899aa290542cf31af322ba53811afd914258f1367fb41e2aeaa6e0b62",
+      "parts": 2
+    },
+    {
+      "path": "third_party/FoundationPose/weights/2024-01-11-20-02-45/model_best.pth",
+      "bytes": 190229389,
+      "sha256": "81924d384bf5c26c646ee4783104982ae3d1e049c181c36641b6a7aeae494c26",
+      "parts": 4
+    },
+    {
+      "path": "third_party/FoundationPose/weights/2023-10-28-18-33-37/model_best.pth",
+      "bytes": 68220109,
+      "sha256": "774700586ddc435d408fc01c9809c43e151232936369dfbea0f0f964ba471d60",
+      "parts": 2
+    }
+  ]
+}

configs/project_env.example.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+# Source from any directory: source /path/to/project/configs/project_env.example.sh
+export HANDFLOW_PROJECT_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+export TORCH_HOME="$HANDFLOW_PROJECT_ROOT/.torch_cache"
+export HF_HOME="$HANDFLOW_PROJECT_ROOT/.hf_cache"
+export WARP_CACHE_PATH="$HANDFLOW_PROJECT_ROOT/.spider_cache/warp"
+export TORCHINDUCTOR_CACHE_DIR="$HANDFLOW_PROJECT_ROOT/.spider_cache/torchinductor"
+export VIPE_ROOT="$HANDFLOW_PROJECT_ROOT/third_party/vipe"
+export VIPE_PYTHON="$HANDFLOW_PROJECT_ROOT/.venv/bin/python"
+export HAMER_CKPT="$HANDFLOW_PROJECT_ROOT/third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt"
+export MANO_ROOT="$HANDFLOW_PROJECT_ROOT/third_party/hamer/_DATA/data/mano"
+export DETECTOR_CKPT="$HANDFLOW_PROJECT_ROOT/weights/detector.pt"
+export HANDFLOW_NORMALIZATION_STATS="$HANDFLOW_PROJECT_ROOT/weights/normalization_stats.npz"
+export MUJOCO_GL="${MUJOCO_GL:-osmesa}"
+# Offline flags intentionally unset here: populate caches before offline inference.
+# Dyn-HaMR also uses its own _DATA tree and Hydra paths; see SETUP_AND_WEIGHTS.md.