liyang
ae28d55f81
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>
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。