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
@@ -0,0 +1,14 @@
+name: vipe
+channels:
+  - nvidia/label/cuda-12.8.0
+  - conda-forge
+  - nodefaults
+dependencies:
+  - python=3.10
+  - pip
+  - cuda-nvcc
+  - eigen
+  - zlib
+  - libcusparse-dev
+  - libcublas-dev
+  - libcusolver-dev
@@ -0,0 +1,22 @@
+torch==2.7.0+cu128
+torchvision
+
+click
+numpy
+einops
+omegaconf
+tqdm
+rerun-sdk
+imageio[ffmpeg]
+opencv-python
+matplotlib
+python-pycg
+timm
+transformers
+gdown
+OpenEXR<3.3.0
+kornia
+hydra-core
+ray
+ninja
+viser
@@ -0,0 +1,373 @@
+# This file was autogenerated by uv via the following command:
+#    uv pip compile --emit-index-url --prerelease=allow -o envs/requirements.txt envs/requirements.in
+
+aiosignal==1.3.1
+    # via ray
+antlr4-python3-runtime==4.9.3
+    # via
+    #   hydra-core
+    #   omegaconf
+attrs==24.2.0
+    # via
+    #   jsonschema
+    #   referencing
+    #   rerun-sdk
+beautifulsoup4==4.13.3
+    # via gdown
+calmsize==0.1.3
+    # via python-pycg
+certifi==2022.12.7
+    # via requests
+charset-normalizer==2.1.1
+    # via
+    #   requests
+    #   trimesh
+click==8.1.8
+    # via ray
+colorlog==6.9.0
+    # via trimesh
+contourpy==1.2.1
+    # via matplotlib
+cycler==0.12.1
+    # via matplotlib
+einops==0.8.1
+    # via -r envs/requirements.in
+embreex==2.17.7.post6
+    # via trimesh
+filelock==3.13.1
+    # via
+    #   gdown
+    #   huggingface-hub
+    #   ray
+    #   torch
+    #   transformers
+fonttools==4.53.0
+    # via matplotlib
+frozenlist==1.4.1
+    # via
+    #   aiosignal
+    #   ray
+fsspec==2024.6.1
+    # via
+    #   huggingface-hub
+    #   torch
+gdown==5.2.0
+    # via -r envs/requirements.in
+h11==0.16.0
+    # via httpx
+httpx==1.0.dev1
+    # via trimesh
+huggingface-hub==0.25.1
+    # via
+    #   timm
+    #   tokenizers
+    #   transformers
+hydra-core==1.3.2
+    # via -r envs/requirements.in
+idna==3.4
+    # via requests
+imageio==2.37.0
+    # via
+    #   -r envs/requirements.in
+    #   python-pycg
+    #   scikit-image
+    #   viser
+imageio-ffmpeg==0.6.0
+    # via imageio
+jinja2==3.1.4
+    # via torch
+jsonschema==4.23.0
+    # via
+    #   ray
+    #   trimesh
+jsonschema-specifications==2024.10.1
+    # via jsonschema
+kiwisolver==1.4.5
+    # via matplotlib
+kornia==0.8.0
+    # via -r envs/requirements.in
+kornia-rs==0.1.8
+    # via kornia
+lazy-loader==0.4
+    # via scikit-image
+lxml==6.0.0
+    # via
+    #   trimesh
+    #   yourdfpy
+manifold3d==3.2.0
+    # via trimesh
+mapbox-earcut==1.0.3
+    # via trimesh
+markdown-it-py==3.0.0
+    # via rich
+markupsafe==2.1.5
+    # via jinja2
+matplotlib==3.9.0
+    # via
+    #   -r envs/requirements.in
+    #   python-pycg
+mdurl==0.1.2
+    # via markdown-it-py
+mpmath==1.3.0
+    # via sympy
+msgpack==1.1.0
+    # via ray
+msgspec==0.19.0
+    # via viser
+networkx==3.3
+    # via
+    #   scikit-image
+    #   torch
+    #   trimesh
+ninja==1.11.1.4
+    # via -r envs/requirements.in
+nodeenv==1.9.1
+    # via viser
+numpy==2.1.2
+    # via
+    #   -r envs/requirements.in
+    #   contourpy
+    #   embreex
+    #   imageio
+    #   manifold3d
+    #   mapbox-earcut
+    #   matplotlib
+    #   opencv-python
+    #   plyfile
+    #   pyarrow
+    #   pycollada
+    #   pyquaternion
+    #   python-pycg
+    #   rerun-sdk
+    #   scikit-image
+    #   scipy
+    #   shapely
+    #   tifffile
+    #   torchvision
+    #   transformers
+    #   trimesh
+    #   vhacdx
+    #   viser
+    #   yourdfpy
+nvidia-cublas-cu12==12.8.3.14
+    # via
+    #   nvidia-cudnn-cu12
+    #   nvidia-cusolver-cu12
+    #   torch
+nvidia-cuda-cupti-cu12==12.8.57
+    # via torch
+nvidia-cuda-nvrtc-cu12==12.8.61
+    # via torch
+nvidia-cuda-runtime-cu12==12.8.57
+    # via torch
+nvidia-cudnn-cu12==9.7.1.26
+    # via torch
+nvidia-cufft-cu12==11.3.3.41
+    # via torch
+nvidia-cufile-cu12==1.13.0.11
+    # via torch
+nvidia-curand-cu12==10.3.9.55
+    # via torch
+nvidia-cusolver-cu12==11.7.2.55
+    # via torch
+nvidia-cusparse-cu12==12.5.7.53
+    # via
+    #   nvidia-cusolver-cu12
+    #   torch
+nvidia-cusparselt-cu12==0.6.3
+    # via torch
+nvidia-ml-py==12.570.86
+    # via pynvml
+nvidia-nccl-cu12==2.26.2
+    # via torch
+nvidia-nvjitlink-cu12==12.8.61
+    # via
+    #   nvidia-cufft-cu12
+    #   nvidia-cusolver-cu12
+    #   nvidia-cusparse-cu12
+    #   torch
+nvidia-nvtx-cu12==12.8.55
+    # via torch
+omegaconf==2.3.0
+    # via
+    #   -r envs/requirements.in
+    #   hydra-core
+    #   python-pycg
+opencv-python==4.11.0.86
+    # via
+    #   -r envs/requirements.in
+    #   viser
+openexr==3.2.4
+    # via -r envs/requirements.in
+packaging==24.1
+    # via
+    #   huggingface-hub
+    #   hydra-core
+    #   kornia
+    #   lazy-loader
+    #   matplotlib
+    #   ray
+    #   scikit-image
+    #   transformers
+pillow==11.0.0
+    # via
+    #   imageio
+    #   matplotlib
+    #   python-pycg
+    #   rerun-sdk
+    #   scikit-image
+    #   torchvision
+    #   trimesh
+plyfile==1.1
+    # via python-pycg
+protobuf==6.30.0rc1
+    # via ray
+psutil==6.0.0
+    # via
+    #   imageio
+    #   viser
+pyarrow==17.0.0
+    # via rerun-sdk
+pycollada==0.9.2
+    # via trimesh
+pygments==2.19.1
+    # via rich
+pynvml==12.0.0
+    # via python-pycg
+pyparsing==3.1.2
+    # via matplotlib
+pyquaternion==0.9.9
+    # via python-pycg
+pysocks==1.7.1
+    # via requests
+python-dateutil==2.9.0
+    # via
+    #   matplotlib
+    #   pycollada
+python-pycg==0.10.1
+    # via -r envs/requirements.in
+pyyaml==6.0.2
+    # via
+    #   huggingface-hub
+    #   omegaconf
+    #   python-pycg
+    #   ray
+    #   timm
+    #   transformers
+ray==2.42.1
+    # via -r envs/requirements.in
+referencing==0.36.2
+    # via
+    #   jsonschema
+    #   jsonschema-specifications
+regex==2024.9.11
+    # via transformers
+requests==2.28.1
+    # via
+    #   gdown
+    #   huggingface-hub
+    #   ray
+    #   transformers
+    #   viser
+rerun-sdk==0.22.0
+    # via -r envs/requirements.in
+rich==13.9.4
+    # via
+    #   python-pycg
+    #   viser
+rpds-py==0.22.3
+    # via
+    #   jsonschema
+    #   referencing
+rtree==1.4.0
+    # via trimesh
+safetensors==0.4.5
+    # via
+    #   timm
+    #   transformers
+scikit-image==0.25.2
+    # via viser
+scipy==1.15.1
+    # via
+    #   python-pycg
+    #   scikit-image
+    #   trimesh
+    #   viser
+screeninfo==0.8.1
+    # via python-pycg
+setuptools==70.2.0
+    # via
+    #   calmsize
+    #   trimesh
+    #   triton
+shapely==2.1.1
+    # via trimesh
+six==1.16.0
+    # via
+    #   python-dateutil
+    #   yourdfpy
+soupsieve==2.6
+    # via beautifulsoup4
+svg-path==7.0
+    # via trimesh
+sympy==1.13.3
+    # via torch
+tifffile==2025.5.10
+    # via scikit-image
+timm==1.0.14
+    # via -r envs/requirements.in
+tokenizers==0.21.0
+    # via transformers
+torch==2.7.0+cu128
+    # via
+    #   -r envs/requirements.in
+    #   kornia
+    #   timm
+    #   torchvision
+torchvision==0.22.0+cu128
+    # via
+    #   -r envs/requirements.in
+    #   timm
+tqdm==4.66.5
+    # via
+    #   -r envs/requirements.in
+    #   gdown
+    #   huggingface-hub
+    #   python-pycg
+    #   transformers
+    #   viser
+transformers==4.48.3
+    # via -r envs/requirements.in
+trimesh==4.6.2
+    # via
+    #   python-pycg
+    #   viser
+    #   yourdfpy
+triton==3.3.0
+    # via torch
+truststore==0.10.0
+    # via httpx
+typing-extensions==4.12.2
+    # via
+    #   beautifulsoup4
+    #   huggingface-hub
+    #   referencing
+    #   rerun-sdk
+    #   rich
+    #   torch
+urllib3==1.26.13
+    # via requests
+usd-core==25.2.post1
+    # via python-pycg
+vhacdx==0.0.8.post2
+    # via trimesh
+viser==1.0.1
+    # via -r envs/requirements.in
+websockets==15.0.1
+    # via viser
+xatlas==0.0.11
+    # via trimesh
+xxhash==3.5.0
+    # via trimesh
+yourdfpy==0.0.58
+    # via viser