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

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

setup_env.sh

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+#!/bin/bash
+# HandFlow inference + render environment (training deps excluded)
+# Usage: bash setup_env.sh [env_name=handflow] [python=3.10]
+set -e
+
+ENV_NAME=${1:-handflow}
+PYTHON_VERSION=${2:-3.10}
+
+echo "=========================================="
+echo "HandFlow inference environment setup: $ENV_NAME (Python $PYTHON_VERSION)"
+echo "=========================================="
+
+# Create conda environment
+eval "$(conda shell.bash hook)"
+if ! conda env list | grep -qE "^${ENV_NAME} "; then
+    conda create -y -n "$ENV_NAME" "python=$PYTHON_VERSION"
+fi
+conda activate "$ENV_NAME"
+
+echo ""
+echo "Installing PyTorch 2.7.0 + CUDA 12.8..."
+pip install torch==2.7.0+cu128 torchvision==0.22.0+cu128 \
+    --index-url https://download.pytorch.org/whl/cu128
+
+echo ""
+echo "Installing HaMeR backbone (submodule, includes its deps smplx/yacs etc.)..."
+pip install -e third_party/hamer
+
+echo ""
+echo "Installing HandFlow inference + render deps..."
+pip install numpy scipy omegaconf tqdm opencv-python "imageio[ffmpeg]" matplotlib
+pip install ultralytics manopth
+
+echo ""
+echo "Installing pytorch3d (Phong renderer; build from source — needs nvcc, matches torch 2.7+cu128)..."
+pip install "git+https://github.com/facebookresearch/pytorch3d.git@v0.7.8"
+
+echo ""
+echo "=========================================="
+echo "Inference environment ready: conda activate $ENV_NAME"
+echo "=========================================="
+echo ""
+echo "Next — set the weight-path environment variables (see README for weight downloads):"
+echo "  export HAMER_CKPT=/path/to/hamer.ckpt"
+echo "  export DETECTOR_CKPT=/path/to/detector.pt        # from WiLoR"
+echo "  export MANO_ROOT=/path/to/mano                    # MANO model"
+echo "  export HANDFLOW_NORMALIZATION_STATS=/path/to/normalization_stats.npz"
+echo ""
+echo "Optional — for moving-camera world trajectory (demo.py without --fix_camera): bash setup_vipe_env.sh"