Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
7002 changed files with 1452249 additions and 0 deletions
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+"""Resume the requested egocentric video inference with existing local models."""
+import json
+import os
+from pathlib import Path
+import subprocess
+import time
+
+ROOT = Path(__file__).resolve().parents[1]
+OUT = ROOT / 'output/15886123_handflow'
+OUT.mkdir(parents=True, exist_ok=True)
+env = os.environ.copy()
+env.update(PYTHONPATH=str(ROOT), LD_LIBRARY_PATH='', OMP_NUM_THREADS='4',
+           MKL_NUM_THREADS='4', OPENBLAS_NUM_THREADS='4',
+           TORCH_HOME=str(ROOT / '.torch_cache'), HF_HOME=str(ROOT / '.hf_cache'),
+           HF_HUB_OFFLINE='1', TRANSFORMERS_OFFLINE='1',
+           TORCH_FORCE_NO_WEIGHTS_ONLY_LOAD='1', PYTHONUNBUFFERED='1',
+           VIPE_PYTHON=str(ROOT / '.venv/bin/python'),
+           HAMER_CKPT=str(ROOT / 'third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt'),
+           DETECTOR_CKPT=str(ROOT / 'weights/detector.pt'),
+           MANO_ROOT=str(ROOT / 'third_party/hamer/_DATA/data/mano'),
+           HANDFLOW_NORMALIZATION_STATS=str(ROOT / 'weights/normalization_stats.npz'))
+cmd = [str(ROOT / '.venv/bin/python'), '-u', 'scripts/demo.py',
+       '--input', '/home/timessage/下载/15886123.mp4',
+       '--fm_ckpt', str(ROOT / 'weights/handflow_denoiser.pt'),
+       '--intrinsics', 'auto', '--side', 'right', '--rotation_smooth_window', '5',
+       '--output_dir', str(OUT), '--save_npz', str(OUT / 'handflow_results.npz')]
+
+def status(stage, **extra):
+    (OUT / 'status.json').write_text(json.dumps(dict(stage=stage, time=time.strftime('%Y-%m-%d %H:%M:%S'), **extra), indent=2))
+    print(stage, flush=True)
+
+try:
+    for attempt in range(2):
+        if (OUT / 'handflow_results.npz').exists():
+            break
+        status('INFERENCE', pass_index=attempt + 1, command=cmd)
+        with (OUT / f'inference_pass_{attempt + 1}.log').open('a') as log:
+            subprocess.run(cmd, cwd=ROOT, env=env, stdout=log, stderr=subprocess.STDOUT, check=True)
+    if not (OUT / 'handflow_results.npz').exists():
+        raise RuntimeError('Inference exited without final arrays after cache restart')
+    status('INFERENCE_FINISHED_PENDING_VALIDATION')
+except Exception as exc:
+    status('FAILED', error=str(exc))
+    raise