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

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

third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/blas/testing/CMakeLists.txt

@@ -0,0 +1,40 @@
+
+macro(ei_add_blas_test testname)
+
+  set(targetname ${testname})
+
+  set(filename ${testname}.f)
+  add_executable(${targetname} ${filename})
+
+  target_link_libraries(${targetname} eigen_blas)
+
+  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
+    target_link_libraries(${targetname} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
+  endif()
+
+  target_link_libraries(${targetname} ${EXTERNAL_LIBS})
+
+  add_test(${testname} "${Eigen_SOURCE_DIR}/blas/testing/runblastest.sh" "${testname}" "${Eigen_SOURCE_DIR}/blas/testing/${testname}.dat")
+  add_dependencies(buildtests ${targetname})
+  
+endmacro()
+
+ei_add_blas_test(sblat1)
+ei_add_blas_test(sblat2)
+ei_add_blas_test(sblat3)
+
+ei_add_blas_test(dblat1)
+ei_add_blas_test(dblat2)
+ei_add_blas_test(dblat3)
+
+ei_add_blas_test(cblat1)
+ei_add_blas_test(cblat2)
+ei_add_blas_test(cblat3)
+
+ei_add_blas_test(zblat1)
+ei_add_blas_test(zblat2)
+ei_add_blas_test(zblat3)
+
+# add_custom_target(level1)
+# add_dependencies(level1 sblat1)
+

third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/blas/testing/runblastest.sh

@@ -0,0 +1,45 @@
+#!/bin/bash
+
+black='\E[30m'
+red='\E[31m'
+green='\E[32m'
+yellow='\E[33m'
+blue='\E[34m'
+magenta='\E[35m'
+cyan='\E[36m'
+white='\E[37m'
+
+if [ -f $2 ]; then
+  data=$2
+  if [ -f $1.summ ]; then rm $1.summ; fi
+  if [ -f $1.snap ]; then rm $1.snap; fi
+else
+  data=$1
+fi
+
+if ! ./$1 < $data > /dev/null 2> .runtest.log ; then
+  echo -e  $red Test $1 failed: $black
+  echo -e $blue
+  cat .runtest.log
+  echo -e $black
+  exit 1
+else
+  if [ -f $1.summ ]; then
+    if [ `grep "FATAL ERROR" $1.summ | wc -l` -gt 0 ]; then
+      echo -e  $red "Test $1 failed (FATAL ERROR, read the file $1.summ for details)" $black
+      echo -e $blue
+      cat .runtest.log
+      echo -e $black
+      exit 1;
+    fi
+
+    if [ `grep "FAILED THE TESTS OF ERROR-EXITS" $1.summ | wc -l` -gt 0 ]; then
+      echo -e  $red "Test $1 failed (FAILED THE TESTS OF ERROR-EXITS, read the file $1.summ for details)" $black
+      echo -e $blue
+      cat .runtest.log
+      echo -e $black
+      exit 1;
+    fi      
+  fi
+  echo -e $green Test $1 passed$black
+fi