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Optional Numpy Compute Backend #1051

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merged 49 commits into from
Dec 19, 2024
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06d1578
refactor backend to use np for better single-threaded efficiency
cremebrule Dec 3, 2024
38b2a47
fix small typo
cremebrule Dec 3, 2024
429cfeb
update setup requirements
cremebrule Dec 3, 2024
8fa44a0
cache indexing values for better efficiency
cremebrule Dec 4, 2024
5d3bce5
improve control loop efficiency, cache relative tf computations
cremebrule Dec 4, 2024
6787df3
optimize controller computation functions
cremebrule Dec 5, 2024
692df78
cache properties that should not change during runtime
cremebrule Dec 5, 2024
d092a6f
optimize np numba transform functions
cremebrule Dec 5, 2024
4ef6f4d
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
69df439
refactor controller backend and general compute backend
cremebrule Dec 12, 2024
3b8d114
update filters to use compute backend
cremebrule Dec 12, 2024
e45e719
fix controller bugs
cremebrule Dec 12, 2024
e9219c2
fix proprioception dict generation
cremebrule Dec 12, 2024
50d390a
fix holonomic robot pose setting
cremebrule Dec 12, 2024
fd07d8a
fix controllable object and filters state de/serialization
cremebrule Dec 12, 2024
9401922
make np tf use numba
cremebrule Dec 12, 2024
920d161
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Dec 12, 2024
5121aa5
ensure actions and control dict is handled properly externally
cremebrule Dec 12, 2024
60d65ab
Merge remote-tracking branch 'origin/feat/np-opt' into feat/np-opt
cremebrule Dec 12, 2024
8d6f25f
fix control torch reference
cremebrule Dec 12, 2024
1dd3b28
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
d4553eb
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
f73f9f0
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
64fab4f
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
62d08b9
use compute backend for filter product
cremebrule Dec 12, 2024
5d672a6
use 0-dim command for null joint controller
cremebrule Dec 12, 2024
0fca8d6
improve curobo test determinism
cremebrule Dec 12, 2024
c83772d
make collision activation settable for better reproducability in curo…
cremebrule Dec 12, 2024
11b9876
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Dec 12, 2024
8268247
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
a546d45
Merge remote-tracking branch 'origin/feat/np-opt' into feat/np-opt
cremebrule Dec 12, 2024
b606001
fix IK controller arg parsing
cremebrule Dec 12, 2024
474aa0d
update comments external -> custom dataset
cremebrule Dec 12, 2024
ee78e94
Merge branch 'asset-conversion' into feat/np-opt
cremebrule Dec 12, 2024
04c37c5
update version and remove extraneous np import
cremebrule Dec 12, 2024
3e015f7
Merge branch 'og-develop' into feat/np-opt
cremebrule Dec 12, 2024
e31c12a
make urdf paths relative during custom asset import
cremebrule Dec 13, 2024
6275ab9
handle vision sensor cleanup properly
cremebrule Dec 13, 2024
42e1d9d
fix default command output behavior for joint controllers
cremebrule Dec 14, 2024
2f856aa
refactor compute backend to allow for explicit externally-defined fun…
cremebrule Dec 19, 2024
a2d35c9
fix default command output generation for multi finger controller
cremebrule Dec 19, 2024
475cbc7
fix semantics for null joint controller
cremebrule Dec 19, 2024
8faa0a9
verify that th and np transform utils have 1-to-1 corresponding funct…
cremebrule Dec 19, 2024
1c67bba
update null joint controller default args in robot classes
cremebrule Dec 19, 2024
66cfff7
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Dec 19, 2024
374513b
re-add quaternions_close
cremebrule Dec 19, 2024
209a8b3
Merge remote-tracking branch 'origin/feat/np-opt' into feat/np-opt
cremebrule Dec 19, 2024
46c6ecb
re-add transformation_matrix
cremebrule Dec 19, 2024
a1fbadd
add copysign to np transform utils
cremebrule Dec 19, 2024
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Merge branch 'asset-conversion' into feat/np-opt
cremebrule committed Dec 12, 2024

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commit 1dd3b288e62e6d8e28d038393491ff34c01999bc

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