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jeongseok-metafacebook-github-bot
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Add tensor_ik and solver targets (#223)
Summary: Now that the internal dependencies have been removed from the tensor_ik and solver targets, they can be exposed on GitHub. This is needed to enable running IK on GitHub. Pull Request resolved: #223 Test Plan: GitHub CI: https://github.com/facebookincubator/momentum/actions/runs/13572878021/job/37942078578?pr=223 ``` ============================= test session starts ============================== platform linux -- Python 3.12.9, pytest-8.3.4, pluggy-1.5.0 rootdir: /home/runner/work/momentum/momentum configfile: pyproject.toml collected 43 items pymomentum/test/test_blend_shape.py ..... [ 11%] pymomentum/test/test_closest_points.py .. [ 16%] pymomentum/test/test_fbx.py . [ 18%] pymomentum/test/test_fbx_io.py .. [ 23%] pymomentum/test/test_parameter_transform.py . [ 25%] pymomentum/test/test_pose_prior.py . [ 27%] pymomentum/test/test_process_markers.py ... [ 34%] pymomentum/test/test_quaternion.py .......... [ 58%] pymomentum/test/test_sequence_ik.py . [ 60%] pymomentum/test/test_skel_state.py ........ [ 79%] pymomentum/test/test_skeleton.py . [ 81%] pymomentum/test/test_solver.py ........ [100%] ``` --- The Python reference API doc for solver: {F1975513289} Reviewed By: cdtwigg Differential Revision: D70250178 Pulled By: jeongseok-meta fbshipit-source-id: 593a3b1d67f705cd919ed11f4da9fa0c28cd72d3
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-37
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13 files changed

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‎cmake/mt_defs.cmake‎

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@@ -433,6 +433,7 @@ function(mt_python_binding)
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)
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set(oneValueArgs
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NAME
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MODULE_NAME
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)
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set(multiValueArgs
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HEADERS
@@ -486,6 +487,13 @@ function(mt_python_binding)
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target_link_libraries(${_ARG_NAME} PRIVATE ${_ARG_LINK_LIBRARIES})
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target_compile_options(${_ARG_NAME} PRIVATE ${_ARG_COMPILE_OPTIONS})
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if(NOT _ARG_MODULE_NAME)
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set(_ARG_MODULE_NAME ${_ARG_NAME})
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endif()
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set_target_properties(${_ARG_NAME} PROPERTIES
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OUTPUT_NAME "${_ARG_MODULE_NAME}"
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)
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if(NOT ${_ARG_EXCLUDE_FROM_INSTALL})
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set_property(GLOBAL APPEND PROPERTY PYMOMENTUM_TARGETS_TO_INSTALL ${_ARG_NAME})
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endif()

‎pixi.toml‎

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@@ -204,15 +204,7 @@ build_py = { cmd = "pip install . -vv", env = { FBXSDK_PATH = ".deps/fbxsdk", CM
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""", MOMENTUM_ENABLE_SIMD = "ON" }, depends-on = [
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"install_deps",
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] }
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test_py = { cmd = """
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pytest \
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pymomentum/test/test_closest_points.py \
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pymomentum/test/test_fbx.py \
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pymomentum/test/test_parameter_transform.py \
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pymomentum/test/test_quaternion.py \
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pymomentum/test/test_skel_state.py \
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pymomentum/test/test_skeleton.py
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""", env = { MOMENTUM_MODELS_PATH = "momentum/" }, depends-on = [
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test_py = { cmd = "pytest pymomentum/test/*.py", env = { MOMENTUM_MODELS_PATH = "momentum/" }, depends-on = [
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"build_py",
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] }
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install_py = { cmd = "pip install -e ." }
@@ -237,15 +229,8 @@ build_py = { cmd = "pip install . -vv", env = { CMAKE_ARGS = """
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-DMOMENTUM_BUILD_IO_FBX=$MOMENTUM_BUILD_IO_FBX \
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-DMOMENTUM_ENABLE_SIMD=$MOMENTUM_ENABLE_SIMD
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""", MOMENTUM_BUILD_IO_FBX = "OFF", MOMENTUM_ENABLE_SIMD = "ON" } }
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test_py = { cmd = """
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pytest \
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pymomentum/test/test_closest_points.py \
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pymomentum/test/test_fbx.py \
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pymomentum/test/test_parameter_transform.py \
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pymomentum/test/test_quaternion.py \
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pymomentum/test/test_skel_state.py \
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pymomentum/test/test_skeleton.py
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""", env = { MOMENTUM_MODELS_PATH = "momentum/" }, depends-on = [
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# TODO: Remove -k option, once this tests are disabled programmatically if momentum is not built with FBX support
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test_py = { cmd = "pytest pymomentum/test/*.py -k 'not (TestFBXIO and (test_save_motions_with_joint_params or test_save_motions_with_model_params))'", env = { MOMENTUM_MODELS_PATH = "momentum/" }, depends-on = [
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"build_py",
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] }
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install_py = { cmd = "pip install -e ." }
@@ -270,15 +255,8 @@ build_py = { cmd = "pip install . -vv", env = { CMAKE_ARGS = """
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-DMOMENTUM_BUILD_IO_FBX=$MOMENTUM_BUILD_IO_FBX \
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-DMOMENTUM_ENABLE_SIMD=$MOMENTUM_ENABLE_SIMD
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""", MOMENTUM_BUILD_IO_FBX = "OFF", MOMENTUM_ENABLE_SIMD = "ON" } }
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test_py = { cmd = """
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pytest \
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pymomentum/test/test_closest_points.py \
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pymomentum/test/test_fbx.py \
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pymomentum/test/test_parameter_transform.py \
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pymomentum/test/test_quaternion.py \
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pymomentum/test/test_skel_state.py \
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pymomentum/test/test_skeleton.py
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""", env = { MOMENTUM_MODELS_PATH = "momentum/" }, depends-on = [
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# TODO: Remove -k option, once this tests are disabled programmatically if momentum is not built with FBX support
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test_py = { cmd = "pytest pymomentum/test/*.py -k 'not (TestFBXIO and (test_save_motions_with_joint_params or test_save_motions_with_model_params))'", env = { MOMENTUM_MODELS_PATH = "momentum/" }, depends-on = [
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"build_py",
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] }
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install_py = { cmd = "pip install -e ." }

‎pymomentum/CMakeLists.txt‎

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@@ -83,15 +83,15 @@ mt_library(
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PUBLIC_INCLUDE_DIRECTORIES
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${ATEN_INCLUDE_DIR}
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PRIVATE_INCLUDE_DIRECTORIES
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${TORCH_LIBRARIES}
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${TORCH_INCLUDE_DIRS}
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PUBLIC_LINK_LIBRARIES
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momentum
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diff_ik
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${ATEN_LIBRARIES}
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pybind11::pybind11
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PRIVATE_LINK_LIBRARIES
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python_utility
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tensor_utility
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axel
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Ceres::ceres
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Dispenso::dispenso
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Eigen3::Eigen
@@ -102,13 +102,35 @@ mt_library(
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EXCLUDE_FROM_INSTALL
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)
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mt_library(
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NAME tensor_ik
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PYMOMENTUM_HEADERS_VARS tensor_ik_public_headers
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PYMOMENTUM_SOURCES_VARS tensor_ik_sources
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PUBLIC_INCLUDE_DIRECTORIES
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${ATEN_INCLUDE_DIR}
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${TORCH_INCLUDE_DIRS}
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PUBLIC_LINK_LIBRARIES
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momentum
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diff_ik
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${ATEN_LIBRARIES}
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PRIVATE_LINK_LIBRARIES
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tensor_utility
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Dispenso::dispenso
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Eigen3::Eigen
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${TORCH_LIBRARIES}
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${torch_python}
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PUBLIC_COMPILE_OPTIONS
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${TORCH_CXX_FLAGS}
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EXCLUDE_FROM_INSTALL
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)
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mt_python_binding(
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NAME geometry
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PYMOMENTUM_HEADERS_VARS geometry_public_headers
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PYMOMENTUM_SOURCES_VARS geometry_sources
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INCLUDE_DIRECTORIES
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${ATEN_INCLUDE_DIR}
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${TORCH_LIBRARIES}
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${TORCH_INCLUDE_DIRS}
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LINK_LIBRARIES
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character
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character_test_helpers
@@ -129,6 +151,29 @@ mt_python_binding(
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${TORCH_CXX_FLAGS}
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)
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mt_python_binding(
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NAME pymomentum_solver
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MODULE_NAME solver
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PYMOMENTUM_HEADERS_VARS solver_public_headers
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PYMOMENTUM_SOURCES_VARS solver_sources
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INCLUDE_DIRECTORIES
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${ATEN_INCLUDE_DIR}
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${TORCH_INCLUDE_DIRS}
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LINK_LIBRARIES
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character_solver
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math
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skeleton
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python_utility
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tensor_ik
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tensor_momentum
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tensor_utility
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${ATEN_LIBRARIES}
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${TORCH_LIBRARIES}
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${torch_python}
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COMPILE_OPTIONS
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${TORCH_CXX_FLAGS}
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)
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mt_python_binding(
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NAME marker_tracking
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PYMOMENTUM_HEADERS_VARS marker_tracking_public_headers
@@ -165,6 +210,15 @@ if(MOMENTUM_BUILD_TESTING)
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PYMOMENTUM_SOURCES_VARS tensor_utility_test_sources
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LINK_LIBRARIES tensor_utility
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)
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mt_test(
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NAME tensor_ik_test
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PYMOMENTUM_SOURCES_VARS tensor_ik_test_sources
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LINK_LIBRARIES
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character_test_helpers
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tensor_ik
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tensor_utility
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)
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endif()
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#===============================================================================

‎pymomentum/cmake/build_variables.bzl‎

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@@ -50,6 +50,46 @@ tensor_momentum_sources = [
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"tensor_momentum/tensor_transforms.cpp",
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]
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tensor_ik_public_headers = [
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"tensor_ik/solver_options.h",
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"tensor_ik/tensor_collision_error_function.h",
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"tensor_ik/tensor_diff_pose_prior_error_function.h",
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"tensor_ik/tensor_distance_error_function.h",
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"tensor_ik/tensor_error_function_utility.h",
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"tensor_ik/tensor_error_function.h",
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"tensor_ik/tensor_gradient.h",
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"tensor_ik/tensor_ik_utility.h",
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"tensor_ik/tensor_ik.h",
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"tensor_ik/tensor_limit_error_function.h",
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"tensor_ik/tensor_marker_error_function.h",
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"tensor_ik/tensor_motion_error_function.h",
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"tensor_ik/tensor_pose_prior_error_function.h",
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"tensor_ik/tensor_projection_error_function.h",
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"tensor_ik/tensor_residual.h",
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"tensor_ik/tensor_vertex_error_function.h",
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]
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tensor_ik_sources = [
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"tensor_ik/tensor_collision_error_function.cpp",
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"tensor_ik/tensor_diff_pose_prior_error_function.cpp",
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"tensor_ik/tensor_distance_error_function.cpp",
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"tensor_ik/tensor_error_function.cpp",
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"tensor_ik/tensor_gradient.cpp",
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"tensor_ik/tensor_ik_utility.cpp",
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"tensor_ik/tensor_ik.cpp",
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"tensor_ik/tensor_limit_error_function.cpp",
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"tensor_ik/tensor_marker_error_function.cpp",
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"tensor_ik/tensor_motion_error_function.cpp",
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"tensor_ik/tensor_pose_prior_error_function.cpp",
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"tensor_ik/tensor_projection_error_function.cpp",
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"tensor_ik/tensor_residual.cpp",
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"tensor_ik/tensor_vertex_error_function.cpp",
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]
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tensor_ik_test_sources = [
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"cpp_test/tensor_ik_test.cpp",
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]
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geometry_public_headers = [
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"geometry/momentum_geometry.h",
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"geometry/momentum_io.h",
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"geometry/momentum_io.cpp",
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]
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solver_public_headers = [
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"solver/momentum_ik.h",
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]
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solver_sources = [
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"solver/momentum_ik.cpp",
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"solver/solver_pybind.cpp",
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]
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quaternion_sources = [
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"quaternion.py",
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]

‎pymomentum/cpp_test/tensor_ik_test.cpp‎

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}
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const auto sizes = tensors[0].sizes();
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std::vector<long> sizes_batch = {(long)tensors.size()};
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std::vector<int64_t> sizes_batch = {(int64_t)tensors.size()};
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std::copy(
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std::begin(sizes), std::end(sizes), std::back_inserter(sizes_batch));
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‎pymomentum/doc/index.rst‎

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@@ -8,4 +8,5 @@ Welcome to PyMomentum
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geometry
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quaternion
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skel_state
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solver
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marker_tracking

‎pymomentum/doc/solver.rst‎

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pymomentum.solver
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=================
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.. automodule:: pymomentum.solver
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:members:
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:undoc-members:
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:show-inheritance:

‎pymomentum/quaternion.py‎

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#!/usr/bin/env python3
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# Copyright (c) Meta Platforms, Inc. and affiliates.
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#
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# This source code is licensed under the MIT license found in the

‎pymomentum/skel_state.py‎

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# Copyright (c) Meta Platforms, Inc. and affiliates.
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#
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# This source code is licensed under the MIT license found in the
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# LICENSE file in the root directory of this source tree.
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from typing import Sequence
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import torch

‎pymomentum/solver/momentum_ik.h‎

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#include <ATen/ATen.h>
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#include <pybind11/pybind11.h>
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#include <torch/extension.h> // @manual=//caffe2:torch_extension
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#include <torch/torch.h>
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#include <optional>

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