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foundationpose-pipeline

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Adapt BOP datasets, run the FoundationPose perception pipeline with TAO depth, and evaluate or re-score pose results. Use for dataset runs and result comparisons; environment installation belongs to foundationpose-setup.

skills/foundationpose-pipeline/SKILL.md

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# Run and evaluate the FoundationPose perception pipeline

## Purpose

Run depth, SAM3 segmentation, and FoundationPose on BOP-format datasets using the TAO Deploy
TensorRT depth engine. Adapt datasets, preserve run provenance, and interpret pose metrics.
For missing dependencies or engine construction, use `foundationpose-setup` if installed,
or the product checkout's README Install and Verify sections.

## Requirements

Locate the user's [product checkout](https://github.com/nvidia-isaac/foundationpose_perception_pipeline)
by `pyproject.toml` (project `foundationpose-perception-pipeline`), `script/run_pipeline.py`, and
`config/defaults.yaml`. Run commands from that root, not from this installed skill's directory.