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fix torch compiled transform utils #1033

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merged 3 commits into from
Nov 22, 2024
Merged

fix torch compiled transform utils #1033

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ad022b7
fix torch compiled transform utils
ChengshuLi Nov 21, 2024
dab4277
fix controller subsume minor bugs
ChengshuLi Nov 21, 2024
5eaaa0c
fix more tests
ChengshuLi Nov 21, 2024
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16 changes: 8 additions & 8 deletions omnigibson/utils/transform_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -273,8 +273,8 @@ def quat_slerp(quat0, quat1, frac, shortestpath=True, eps=1.0e-15):
# type: (Tensor, Tensor, Tensor, bool, float) -> Tensor
# reshape quaternion
quat_shape = quat0.shape
quat0 = unit_vector(quat0.reshape(-1, 4), dim=-1)
quat1 = unit_vector(quat1.reshape(-1, 4), dim=-1)
quat0 = unit_vector(quat0.reshape(-1, 4), dim=-1, out=None)
quat1 = unit_vector(quat1.reshape(-1, 4), dim=-1, out=None)

# Check for endpoint cases
where_start = frac <= 0.0
Expand Down Expand Up @@ -481,8 +481,8 @@ def vec2quat(vec: torch.Tensor, up: torch.Tensor = torch.tensor([0.0, 0.0, 1.0])
if up.dim() == 1:
up = up.unsqueeze(0)

vec_n = torch.nn.functional.normalize(vec, dim=-1)
up_n = torch.nn.functional.normalize(up, dim=-1)
vec_n = torch.nn.functional.normalize(vec, dim=-1, eps=1e-10)
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up_n = torch.nn.functional.normalize(up, dim=-1, eps=1e-10)

s_n = torch.cross(up_n, vec_n, dim=-1)
u_n = torch.cross(vec_n, s_n, dim=-1)
Expand Down Expand Up @@ -1141,8 +1141,8 @@ def vecs2axisangle(vec0, vec1):
vec1 (torch.tensor): (..., 3) (x,y,z) 3D vector, possibly unnormalized
"""
# Normalize vectors
vec0 = normalize(vec0, dim=-1)
vec1 = normalize(vec1, dim=-1)
vec0 = normalize(vec0, dim=-1, eps=1e-10)
vec1 = normalize(vec1, dim=-1, eps=1e-10)

# Get cross product for direction of angle, and multiply by arcos of the dot product which is the angle
return torch.linalg.cross(vec0, vec1) * torch.arccos((vec0 * vec1).sum(-1, keepdim=True))
Expand All @@ -1162,8 +1162,8 @@ def vecs2quat(vec0: torch.Tensor, vec1: torch.Tensor, normalized: bool = False)
"""
# Normalize vectors if requested
if not normalized:
vec0 = normalize(vec0, dim=-1)
vec1 = normalize(vec1, dim=-1)
vec0 = normalize(vec0, dim=-1, eps=1e-10)
vec1 = normalize(vec1, dim=-1, eps=1e-10)

# Half-way Quaternion Solution -- see https://stackoverflow.com/a/11741520
cos_theta = torch.sum(vec0 * vec1, dim=-1, keepdim=True)
Expand Down
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