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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+import os
+import re
+import shutil
+import tarfile
+import tempfile
+
+from setuptools import find_packages, setup
+from urllib.request import urlretrieve
+
+try:
+    import torch
+    import torch.version
+
+    from torch.utils.cpp_extension import BuildExtension, CUDAExtension
+
+    torch_version = torch.version.__version__.split(".")[:2]
+    cuda_version = torch.version.cuda
+
+    # This will be e.g. "+pt23cu121"
+    assert cuda_version is not None, "Pytorch CUDA is required for this installation."
+    version_suffix = f"+pt{torch_version[0]}{torch_version[1]}cu{cuda_version.replace('.', '')}"
+
+except ImportError:
+    raise ValueError("Pytorch not found, please install it first.")
+
+PACKAGE_NAME = "vipe"
+
+# Avoid directly importing the package
+with open(f"{PACKAGE_NAME}/__init__.py", "r") as fh:
+    __version__ = re.findall(r"__version__ = \"(.*?)\"", fh.read())[0]
+__version__ += version_suffix
+
+coder_finder_path = f"{PACKAGE_NAME}/ext/specs.py"
+code_finder_namespace = {"__file__": coder_finder_path}
+with open(coder_finder_path, "r") as fh:
+    exec(fh.read(), code_finder_namespace)
+get_sources = code_finder_namespace["get_sources"]
+get_cpp_flags = code_finder_namespace["get_cpp_flags"]
+get_cuda_flags = code_finder_namespace["get_cuda_flags"]
+
+# Setup CUDA_HOME for conda environment for consistency
+if "CONDA_PREFIX" in os.environ:
+    conda_nvcc_path = os.path.join(os.environ["CONDA_PREFIX"], "bin", "nvcc")
+    if os.path.exists(conda_nvcc_path):
+        os.environ["PYTORCH_NVCC"] = conda_nvcc_path
+
+# Download the put Eigen 3.4 in a correct place
+cpp_flags = get_cpp_flags()
+cuda_flags = get_cuda_flags()
+if os.environ.get("USE_SYSTEM_EIGEN", "0") == "0":
+    eigen_include_dir = "csrc/include/eigen3"
+    eigen_url = "https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz"
+
+    if not os.path.exists(eigen_include_dir):
+        os.makedirs(eigen_include_dir, exist_ok=True)
+
+        with tempfile.TemporaryDirectory() as temp_dir:
+            tmp_tar_path = os.path.join(temp_dir, "eigen.gz")
+            extracted_dir = os.path.join(temp_dir, "eigen-extracted")
+            urlretrieve(eigen_url, tmp_tar_path)
+            with tarfile.open(tmp_tar_path, "r:gz") as tar:
+                tar.extractall(path=extracted_dir)
+
+            shutil.move(os.path.join(extracted_dir, "eigen-3.4.0", "Eigen"), eigen_include_dir)
+
+    # Use full path
+    additional_include_path = os.path.join(os.path.dirname(__file__), "csrc/include")
+    cpp_flags += ["-isystem", additional_include_path]
+    cuda_flags += ["-isystem", additional_include_path]
+
+packages = find_packages()
+setup(
+    packages=packages,
+    version=__version__,
+    ext_modules=[
+        CUDAExtension(
+            f"{PACKAGE_NAME}_ext",
+            sources=get_sources(),  # type: ignore
+            extra_compile_args={"cxx": cpp_flags, "nvcc": cuda_flags},  # type: ignore
+        )
+    ],
+    cmdclass={"build_ext": BuildExtension.with_options(use_ninja=True)},
+)