Merge remote-tracking branch 'origin/feat/np-opt' into feat/np-opt

StanfordVL · Dec 19, 2024 · 209a8b3 · 209a8b3
2 parents 374513b + 66cfff7
commit 209a8b3
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/omnigibson/controllers/osc_controller.py b/omnigibson/controllers/osc_controller.py
@@ -652,4 +652,6 @@ def _compute_osc_torques_numpy(
 
 
 # Set these as part of the backend values
-add_compute_function(name="compute_osc_torques", np_function=_compute_osc_torques_numpy, th_function=_compute_osc_torques_torch)
+add_compute_function(
+    name="compute_osc_torques", np_function=_compute_osc_torques_numpy, th_function=_compute_osc_torques_torch
+)
diff --git a/omnigibson/utils/transform_utils.py b/omnigibson/utils/transform_utils.py
@@ -335,7 +335,6 @@ def random_quaternion(num_quaternions: int = 1) -> torch.Tensor:
     return quaternions
 
 
-
 @torch.compile
 def random_axis_angle(angle_limit: float = 2.0 * math.pi):
     """

diff --git a/omnigibson/utils/usd_utils.py b/omnigibson/utils/usd_utils.py
@@ -1936,4 +1936,6 @@ def _compute_relative_poses_numpy(idx, n_links, all_tfs, base_pose):
 
 
 # Set these as part of the backend values
-add_compute_function(name="compute_relative_poses", np_function=_compute_relative_poses_numpy, th_function=_compute_relative_poses_torch)
+add_compute_function(
+    name="compute_relative_poses", np_function=_compute_relative_poses_numpy, th_function=_compute_relative_poses_torch
+)
-Original file line number
+Diff line change
@@ Expand Up @@
         return quaternions
     @torch.compile
     def random_axis_angle(angle_limit: float = 2.0 * math.pi):
         """
@@ Expand Down @@