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
512 B
JSON
17 lines
512 B
JSON
{
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"height_mm": 157.856,
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"max_diameter_mm": 54.11,
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"neck_diameter_mm": 28.0,
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"watertight": true,
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"winding_consistent": true,
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"volume_m3": 0.000297608913283581,
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"mujoco_load_passed": true,
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"collision_parts": 3,
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"extent_m": [
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0.05411,
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0.05411,
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0.157856
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],
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"shape_source": "Idealized cylinder body, tapered shoulder, cylinder neck; only height and maximum diameter inherited",
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"mass_source": "Previous XML mass 0.2308 kg retained; uniform solid inertia recomputed, not measured"
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} |