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

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

scripts/run_spider_l20_contact.py

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+"""Run upstream SPIDER contact guidance on the prepared L20 task."""
+import os
+from pathlib import Path
+ROOT=Path(__file__).resolve().parents[1]
+os.environ['WARP_CACHE_PATH']=str(ROOT/'.spider_cache/warp')
+os.environ['TORCHINDUCTOR_CACHE_DIR']=str(ROOT/'.spider_cache/torchinductor')
+os.environ.setdefault('MUJOCO_GL','osmesa')
+os.environ.setdefault('OMP_NUM_THREADS','4')
+import sys,json,importlib.util
+sys.path.insert(0,str(ROOT/'third_party/spider'))
+import torch
+torch.set_num_threads(4)
+from spider.config import Config
+spec=importlib.util.spec_from_file_location('spider_original_runner',ROOT/'third_party/spider/examples/run_mjwp.py')
+module=importlib.util.module_from_spec(spec);sys.modules[spec.name]=module;spec.loader.exec_module(module)
+config=Config(**json.loads((ROOT/'output/spider_l20_contact/config.json').read_text()))
+module.main(config)
+print('SPIDER_RUN_COMPLETE',flush=True)