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
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+# KLU lib usually requires linking to a blas library.
+# It is up to the user of this module to find a BLAS and link to it.
+
+if (KLU_INCLUDES AND KLU_LIBRARIES)
+  set(KLU_FIND_QUIETLY TRUE)
+endif ()
+
+find_path(KLU_INCLUDES
+  NAMES
+  klu.h
+  PATHS
+  $ENV{KLUDIR}
+  ${INCLUDE_INSTALL_DIR}
+  PATH_SUFFIXES
+  suitesparse
+  ufsparse
+)
+
+find_library(KLU_LIBRARIES klu PATHS $ENV{KLUDIR} ${LIB_INSTALL_DIR})
+
+if(KLU_LIBRARIES)
+
+  if(NOT KLU_LIBDIR)
+    get_filename_component(KLU_LIBDIR ${KLU_LIBRARIES} PATH)
+  endif()
+
+  find_library(COLAMD_LIBRARY colamd PATHS ${KLU_LIBDIR} $ENV{KLUDIR} ${LIB_INSTALL_DIR})
+  if(COLAMD_LIBRARY)
+    set(KLU_LIBRARIES ${KLU_LIBRARIES} ${COLAMD_LIBRARY})
+  endif ()
+  
+  find_library(AMD_LIBRARY amd PATHS ${KLU_LIBDIR} $ENV{KLUDIR} ${LIB_INSTALL_DIR})
+  if(AMD_LIBRARY)
+    set(KLU_LIBRARIES ${KLU_LIBRARIES} ${AMD_LIBRARY})
+  endif ()
+
+  find_library(BTF_LIBRARY btf PATHS $ENV{KLU_LIBDIR} $ENV{KLUDIR} ${LIB_INSTALL_DIR})
+  if(BTF_LIBRARY)
+    set(KLU_LIBRARIES ${KLU_LIBRARIES} ${BTF_LIBRARY})
+  endif()
+
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(KLU DEFAULT_MSG
+                                  KLU_INCLUDES KLU_LIBRARIES)
+
+mark_as_advanced(KLU_INCLUDES KLU_LIBRARIES AMD_LIBRARY COLAMD_LIBRARY BTF_LIBRARY)