Code

NumPy -> Torch#780

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Merged

hang-yin merged 197 commits intoog-developStanfordVL/OmniGibson:og-developfrom torchStanfordVL/OmniGibson:torchCopy head branch name to clipboardAug 21, 2024

+4,475-3,286

Commits

Commits on Jun 26, 2024

• import torch instead of numpy

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• tensor instead of array

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• dim instead of axis

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• concat to cat

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• ndarray docs

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• astype and type names

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• zeros and ones

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• where

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• append - cat

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• product - prod

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• deg2rad

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• argsort

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• less_equal - le

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• tile

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• square

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• full

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• more trig

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• meshgrid

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• ceil and floor

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• matmul

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• maximum

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Commits on Jun 27, 2024

• random choice

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• asarray

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• vstack

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• nonzero

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• identity - eye

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• clip

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• radians - deg2rad

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• from string

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• np random calls

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• misc

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• r_ - cat

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• ix - meshgrid

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• port np delete to torch

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Commits on Jul 1, 2024

• uint32 - int32

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• fix deg2rad input

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• Fix empty torch tensor construction

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• fix merge_nested_dicts

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• th.ceil - math.ceil

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• fix pi value

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• Fix isclose

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Commits on Jul 2, 2024

• Tensor - tensor

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• Fix th linalg inv ex

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• Fix pxr Gf Vec3d input

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• Fix pxr Gf Quatd input

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• Wrap all transform utils methods with th tensor

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• Fix pxr Gf Quatf input

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Commits on Jul 5, 2024

• A batch of fixes

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Commits on Jul 8, 2024

• Some fixes

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Commits on Jul 9, 2024

• replicator fixes

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• particle system fixes

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Commits on Jul 10, 2024

• tiny fix

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Commits on Jul 11, 2024

• Test dump and load states now passing

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• Env tests now passing

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Commits on Jul 12, 2024

• Merge og-develop into torch

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• More fixes

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• Fix robot control example

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• Fix profiling script

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• Merge branch 'og-develop' into torch

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Commits on Jul 15, 2024

• Fix transition rules tests with torch

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Commits on Jul 16, 2024

• Fix more tests

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• Fix behavior env demo

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• Run examples as tests

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Commits on Jul 17, 2024

• Run examples as tests

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• Fix a few examples

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• Fix all robot visualizer demo

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• Fix a number of tests

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• Update github workflow to include tests of examples

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• Merged og-develop into torch

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• Fix create tests of examples script path

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Commits on Jul 18, 2024

• Fixed most of the example tests

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• Example tests in a separate yml

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• Fix example test yml file

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• Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson into torch

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• tmp fixes

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• Merge branch 'og-develop' of https://github.com/StanfordVL/OmniGibson into torch

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• small fixes

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• Fix franka joint naming

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Commits on Jul 19, 2024

• Fix more examples

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• Fixed all tensor cloning warnings

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• Fixed all transition rules tests

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Commits on Jul 22, 2024

• New gt value for robot state value

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• Fix robot state tests

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Commits on Jul 23, 2024

• Full gpu mode

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• More fixes for behavior bot

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Commits on Jul 24, 2024

• Converted some transform util functions to be torch jit script compatible

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• First iteration on removing rotation library in transform utils

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Commits on Jul 26, 2024

• Torch jit script for transform utils somewhat working

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• Remove dependency on scipy rotation library

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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• [pre-commit.ci] auto fixes from pre-commit.com hooks

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• Fix some tests

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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• Fixed transition rules test

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• Fixed robot state tests

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• Fix all torch script warnings

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• Merged og-develop into torch

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• Merged og-develop into torch

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Commits on Jul 27, 2024

• Get rid of generator

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Commits on Jul 29, 2024

• Merged og-develop into torch

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Commits on Aug 5, 2024

• Address some comments

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Commits on Aug 6, 2024

• Address some more comments

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• [pre-commit.ci] auto fixes from pre-commit.com hooks

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• Remove all .float() calls

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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• Some more fixes

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• Fix float serialization problem

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• Address more comments

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Commits on Aug 7, 2024

• More fixes

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• Small fixes

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Commits on Aug 8, 2024

• Add tests for transform utils

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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• Set simulation backend to torch

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• Fix float type mismatch

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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• Fixes for env tests

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• Run more tests

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Commits on Aug 9, 2024

• Fix scene graph

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• Fix all object states test

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• Remove annotator warp synchronize call

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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• Fix profiling script

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Commits on Aug 12, 2024

• Remove more np calls

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• Small fixes

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• Pre-commit hook for numpy import

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• Fix scene file import

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• Update numpy commit hook

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• Merge og-develop into torch

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• Merge branch 'torch' of https://github.com/StanfordVL/OmniGibson into torch

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Commits on Aug 13, 2024

• Update workflow test files

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• Small fix

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• Fix path

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• Some fixes

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• Address some comments

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• Update examples as tests work flow

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• Address more comments

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• Ditch to_numpy util

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• Revert deprecated util changes

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Commits on Aug 14, 2024

• Add include_cloth flag to get_all_system_categories

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• Revert testing change

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• Refactor vision sensor get_obs

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• Matmul to @

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• Deterministic random values for debugging

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• Get rid of fix home step on CI

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Commits on Aug 15, 2024

• Revert custom annotator

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• Improve quat2mat

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• Small fix for osc controller

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• CI tests fail or error/failure

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• Small fix

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Commits on Aug 17, 2024

• Resolve merge conflicts and fix all tests

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Commits on Aug 20, 2024

• Resolve some merge conflicts from data collection pr

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• Fix data collection test

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• Fix multiple envs tests

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• Fix some more tests

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• Merged og-develop into torch

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• CI debug

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• Fix more tests

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• Fix tests yml

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Commits on Aug 21, 2024

• Disable franka mounted test for now

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• disable stretch as well

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• wip

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• Continue on error

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