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
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+// Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+
+#include "ms_deform_attn_cuda.h"
+
+namespace groundingdino {
+
+at::Tensor ms_deform_attn_forward(const at::Tensor &value, const at::Tensor &spatial_shapes,
+                                  const at::Tensor &level_start_index, const at::Tensor &sampling_loc,
+                                  const at::Tensor &attn_weight, const int im2col_step) {
+    if (value.is_cuda()) {
+        return ms_deform_attn_cuda_forward(value, spatial_shapes, level_start_index, sampling_loc, attn_weight,
+                                           im2col_step);
+    }
+    AT_ERROR("Not implemented on the CPU");
+}
+
+std::vector<at::Tensor> ms_deform_attn_backward(const at::Tensor &value, const at::Tensor &spatial_shapes,
+                                                const at::Tensor &level_start_index, const at::Tensor &sampling_loc,
+                                                const at::Tensor &attn_weight, const at::Tensor &grad_output,
+                                                const int im2col_step) {
+    if (value.is_cuda()) {
+        return ms_deform_attn_cuda_backward(value, spatial_shapes, level_start_index, sampling_loc, attn_weight,
+                                            grad_output, im2col_step);
+    }
+    AT_ERROR("Not implemented on the CPU");
+}
+
+}  // namespace groundingdino
+
+void pybind_grounding_dino_ext(py::module &m) {
+    m.def("ms_deform_attn_forward", &groundingdino::ms_deform_attn_forward, "ms_deform_attn_forward");
+    m.def("ms_deform_attn_backward", &groundingdino::ms_deform_attn_backward, "ms_deform_attn_backward");
+}