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>
18 lines
728 B
Bash
18 lines
728 B
Bash
#!/usr/bin/env bash
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# Source this file before building or running FoundationPose.
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FP_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
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unset PYTHONPATH LD_LIBRARY_PATH
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export CUDA_HOME="$FP_ROOT/.cuda/usr/local/cuda-12.8"
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export PATH="$FP_ROOT/.venv/bin:$CUDA_HOME/bin:$PATH"
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export TORCH_CUDA_ARCH_LIST=8.6
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export MAX_JOBS=2
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export PIP_CACHE_DIR="$FP_ROOT/.cache/pip"
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export TORCH_EXTENSIONS_DIR="$FP_ROOT/.cache/torch_extensions"
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export XDG_CACHE_HOME="$FP_ROOT/.cache"
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export MPLCONFIGDIR="$FP_ROOT/.cache/matplotlib"
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export CPATH="$CUDA_HOME/include"
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for fp_inc in /home/timessage/python_envs/unitree_rl_mjlab/lib/python3.11/site-packages/nvidia/*/include; do
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export CPATH="$CPATH:$fp_inc"
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done
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unset fp_inc
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