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

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

third_party/Dyn-HaMR/dyn-hamr/util/logger.py

@@ -0,0 +1,37 @@
+import datetime
+
+
+class Logger(object):
+    """
+    Static logging class
+    """
+
+    log_file = None
+
+    @staticmethod
+    def init(log_path):
+        Logger.log_file = log_path
+
+    @staticmethod
+    def log(write_str, to_stdout=True):
+        if to_stdout:
+            print(write_str)
+        if not Logger.log_file:
+            print("Logger must be initialized before logging!")
+            return
+        time_str = datetime.datetime.now().strftime("%Y-%m-%d_%H:%M:%S")
+        with open(Logger.log_file, "a") as f:
+            f.write(time_str + "  ")
+            f.write(str(write_str) + "\n")
+
+
+def log_cur_stats(stats_dict, iter=None, to_stdout=True):
+    loss = stats_dict.pop("total", 0)
+    Logger.log(f"LOSS: {loss:.04f}", to_stdout=to_stdout)
+    for k, v in stats_dict.items():
+        Logger.log(f"{k}: {v:.04f}", to_stdout=to_stdout)
+    if to_stdout:
+        if iter is not None:
+            print("======= iter %d =======" % iter)
+        else:
+            print("========")