Foundation pose model free version?

[DavidJimenezS]

I was wondering what is needed to be able to run the foundation pose model on a new object without re training?
I mean in the documentation is not clear what is needed besides the obj files?

So, from foundation pose with 4 images with its respective masks a model can be trained to get like a cad model and then send that to the foundationpose pipeline.

So how we can run that in this model and if we already have CAD model what are the steps. IT is not clear to me how to run the examples on a novel objects.

Thanks in advance for your help.