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>
17 lines
962 B
XML
17 lines
962 B
XML
<mujoco model="dimension_based_bottle">
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<option gravity="0 0 -9.81" />
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<asset>
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<mesh name="bottle_visual" file="assets/bottle.obj" />
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<mesh name="bottle_shoulder" file="assets/shoulder.obj" />
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</asset>
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<worldbody>
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<body name="bottle">
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<freejoint name="bottle_freejoint" />
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<inertial mass=".2308" pos="1.10250386217449e-19 9.190620430899951e-19 0.06616881962256083" diaginertia="0.0004053028305440948 0.0004053028305440948 7.742359133762652e-05" />
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<geom type="mesh" mesh="bottle_visual" group="1" contype="0" conaffinity="0" rgba=".68 .74 .8 1" />
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<geom type="cylinder" size="0.027055 0.0515" pos="0 0 0.0515" group="3" friction=".6 .005 .001" condim="6" />
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<geom type="mesh" mesh="bottle_shoulder" group="3" friction=".6 .005 .001" condim="6" />
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<geom type="cylinder" size="0.014 0.009427999999999992" pos="0 0 0.148428" group="3" friction=".6 .005 .001" condim="6" />
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</body>
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</worldbody>
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</mujoco> |