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
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+#!/bin/bash
+# ViPE SLAM standalone environment (invoked by demo.py via conda run -n vipe when --fix_camera is unset)
+# Install only if you need the world-view trajectory (demo.py without --fix_camera); --fix_camera mode skips ViPE.
+#
+# ViPE's CUDA extensions are compiled against torch 2.7.0+cu128, matching the handflow environment.
+# Usage: bash setup_vipe_env.sh [env_name=vipe]
+set -e
+
+ENV_NAME=${1:-vipe}
+
+echo "=========================================="
+echo "ViPE SLAM environment setup: $ENV_NAME"
+echo "=========================================="
+
+eval "$(conda shell.bash hook)"
+if ! conda env list | grep -qE "^${ENV_NAME} "; then
+    conda create -y -n "$ENV_NAME" python=3.10
+fi
+conda activate "$ENV_NAME"
+
+echo ""
+echo "Installing PyTorch 2.7.0 + CUDA 12.8 (matching handflow)..."
+pip install torch==2.7.0+cu128 torchvision==0.22.0+cu128 \
+    --index-url https://download.pytorch.org/whl/cu128
+
+echo ""
+echo "Installing CUDA 12.8 build tools (nvcc, required to compile the ViPE extension)..."
+conda install -y -c "nvidia/label/cuda-12.8.0" cuda-nvcc cuda-cudart-dev
+conda install -y -c conda-forge gxx_linux-64=11  # gcc 11
+
+echo ""
+echo "Installing ViPE (submodule; compiles the vipe_ext CUDA extension + downloads Eigen)..."
+pip install -e third_party/vipe
+
+echo ""
+echo "=========================================="
+echo "ViPE environment ready: conda activate $ENV_NAME"
+echo "=========================================="
+echo ""
+echo "demo.py will invoke this environment automatically via 'conda run -n ${ENV_NAME}' (moving-camera mode only)."
+echo "The first build of vipe_ext downloads Eigen 3.4 online; ensure network access."