From cfab0583d6f60b155b4b41ab13c74a2f2b3102cb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cgokmen@stanford.edu>
Date: Wed, 16 Oct 2024 22:17:36 -0700
Subject: [PATCH 1/2] Unpin dependency versions

---
 setup.py | 38 +++++++++++++++++++-------------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/setup.py b/setup.py
index bdc3724aa..9d7f8d331 100644
--- a/setup.py
+++ b/setup.py
@@ -24,28 +24,28 @@
         "gymnasium>=0.28.1",
         "numpy<2.0.0,>=1.23.5",
         "scipy>=1.10.1",
-        "GitPython~=3.1.40",
-        "transforms3d~=0.4.1",
-        "networkx~=3.2.1",
-        "PyYAML~=6.0.1",
-        "addict~=2.4.0",
-        "ipython~=8.20.0",
-        "future~=0.18.3",
-        "trimesh~=4.0.8",
-        "h5py~=3.10.0",
-        "cryptography~=41.0.7",
+        "GitPython>=3.1.40",
+        "transforms3d>=0.4.1",
+        "networkx>=3.2.1",
+        "PyYAML>=6.0.1",
+        "addict>=2.4.0",
+        "ipython>=8.20.0",
+        "future>=0.18.3",
+        "trimesh>=4.0.8",
+        "h5py>=3.10.0",
+        "cryptography>=41.0.7",
         "bddl~=3.5.0",
         "opencv-python>=4.8.1",
-        "nest_asyncio~=1.5.8",
-        "imageio~=2.33.1",
-        "imageio-ffmpeg~=0.4.9",
-        "termcolor~=2.4.0",
-        "progressbar~=2.5",
+        "nest_asyncio>=1.5.6",
+        "imageio>=2.33.1",
+        "imageio-ffmpeg>=0.4.9",
+        "termcolor>=2.4.0",
+        "progressbar>=2.5",
         "pymeshlab~=2022.2",
-        "click~=8.1.3",
-        "aenum~=3.1.15",
-        "rtree~=1.2.0",
-        "graphviz~=0.20",
+        "click>=8.1.3",
+        "aenum>=3.1.15",
+        "rtree>=1.2.0",
+        "graphviz>=0.20",
         "matplotlib>=3.0.0",
     ],
     extras_require={

From a52fa1297704c9160ada220ad6e129d018d7c075 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 16 Oct 2024 23:45:49 -0700
Subject: [PATCH 2/2] Fix transform utils test

---
 tests/test_transform_utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/test_transform_utils.py b/tests/test_transform_utils.py
index 36d1802bc..318dfae81 100644
--- a/tests/test_transform_utils.py
+++ b/tests/test_transform_utils.py
@@ -358,7 +358,7 @@ def test_quat_slerp(self):
             key_rots = R.from_quat(np.stack([q1.cpu().numpy(), q2.cpu().numpy()]))
             key_times = [0, 1]
             slerp = Slerp(key_times, key_rots)
-            scipy_q_slerp = slerp([t]).as_quat()[0].astype(NumpyTypes.FLOAT32)
+            scipy_q_slerp = slerp([t.item()]).as_quat()[0].astype(NumpyTypes.FLOAT32)
 
             assert quaternions_close(q_slerp, th.from_numpy(scipy_q_slerp))
             assert_close(th.norm(q_slerp), th.tensor(1.0))