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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+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <torch/extension.h>
+
+void pybind_droid_net_ext(py::module &m);
+void pybind_grounding_dino_ext(py::module &m);
+void pybind_utils_ext(py::module &m);
+void pybind_slam_ext(py::module &m);
+void pybind_scatter_ext(py::module &m);
+void pybind_lietorch_ext(py::module &m);
+void pybind_corr_ext(py::module &m);
+
+PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
+    py::module m_droid_net = m.def_submodule("droid_net_ext");
+    pybind_droid_net_ext(m_droid_net);
+
+    py::module m_gdino = m.def_submodule("grounding_dino_ext");
+    pybind_grounding_dino_ext(m_gdino);
+
+    py::module m_utils = m.def_submodule("utils_ext");
+    pybind_utils_ext(m_utils);
+
+    py::module m_slam = m.def_submodule("slam_ext");
+    pybind_slam_ext(m_slam);
+
+    py::module m_scatter = m.def_submodule("scatter_ext");
+    pybind_scatter_ext(m_scatter);
+
+    py::module m_lietorch = m.def_submodule("lietorch_ext");
+    pybind_lietorch_ext(m_lietorch);
+
+    py::module m_corr = m.def_submodule("corr_ext");
+    pybind_corr_ext(m_corr);
+}