Remove more np calls

docs/tutorials/custom_robot_import.md

@@ -110,7 +110,8 @@ Now that we have the USD file for the robot, let's write our own robot class. Fo
 ??? code "stretch.py"
     ``` python linenums="1"
     import os
-    import numpy as np
+    import math
+    import torch as th
     from omnigibson.macros import gm
     from omnigibson.robots.active_camera_robot import ActiveCameraRobot
     from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
@@ -157,7 +158,7 @@ Now that we have the USD file for the robot, let's write our own robot class. Fo
         def _default_joint_pos(self):
             # Define the default joint positions for your robot
 
-            return np.array([0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0.0, 0, 0, np.pi / 8, np.pi / 8])
+            return th.tensor([0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0.0, 0, 0, math.pi / 8, math.pi / 8]. dtype=th.float32)
 
         @property
         def wheel_radius(self):

omnigibson/prims/geom_prim.py

@@ -1,8 +1,6 @@
 from functools import cached_property
 
-import numpy as np
 import torch as th
-import trimesh
 
 import omnigibson as og
 import omnigibson.lazy as lazy
@@ -92,7 +90,7 @@ def color(self, rgb):
         if self.has_material():
             self.material.diffuse_color_constant = rgb
         else:
-            self.set_attribute("primvars:displayColor", np.array(rgb))
+            self.set_attribute("primvars:displayColor", rgb.cpu().numpy())
 
     @property
     def opacity(self):

omnigibson/systems/micro_particle_system.py

@@ -1,9 +1,7 @@
-import datetime
 import math
 import os
 import tempfile
 import uuid
-from collections import defaultdict
 from pathlib import Path
 
 import numpy as np
@@ -18,11 +16,9 @@
 from omnigibson.prims.material_prim import MaterialPrim
 from omnigibson.prims.prim_base import BasePrim
 from omnigibson.systems.system_base import BaseSystem, PhysicalParticleSystem
-from omnigibson.utils.geometry_utils import generate_points_in_volume_checker_function
 from omnigibson.utils.physx_utils import create_physx_particle_system, create_physx_particleset_pointinstancer
 from omnigibson.utils.python_utils import assert_valid_key, torch_delete
-from omnigibson.utils.sampling_utils import sample_cuboid_on_object_full_grid_topdown
-from omnigibson.utils.ui_utils import create_module_logger, disclaimer
+from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.usd_utils import (
     PoseAPI,
     absolute_prim_path_to_scene_relative,
@@ -243,7 +239,7 @@ def particle_orientations(self):
             th.tensor: (N, 4) numpy array, where each of the N particles' orientations are expressed in (x,y,z,w)
                 quaternion coordinates relative to this instancer's parent prim
         """
-        return th.from_numpy(np.array(self.get_attribute(attr="orientations")))
+        return th.from_numpy(np.array(self.get_attribute(attr="orientations"), dtype=np.float32))
 
     @particle_orientations.setter
     def particle_orientations(self, quat):

omnigibson/utils/python_utils.py

@@ -11,7 +11,6 @@
 from hashlib import md5
 from importlib import import_module
 
-import numpy as np
 import torch as th
 
 # Global dictionary storing all unique names
@@ -293,7 +292,7 @@ def get_uuid(name, n_digits=8, deterministic=True):
     """
     # Make sure the number is float32 compatible
     val = int(md5(name.encode()).hexdigest(), 16) if deterministic else abs(hash(name))
-    return int(np.float32(val % (10**n_digits)))
+    return int(th.tensor(val % (10**n_digits), dtype=th.float32).item())
 
 
 def meets_minimum_version(test_version, minimum_version):

omnigibson/utils/sampling_utils.py

@@ -1,18 +1,14 @@
 import itertools
 import math
 import random
-import time
 from collections import Counter, defaultdict
 
-import numpy as np
 import torch as th
-import trimesh
 from scipy.stats import truncnorm
 
 import omnigibson as og
-import omnigibson.lazy as lazy
 import omnigibson.utils.transform_utils as T
-from omnigibson.macros import create_module_macros, gm
+from omnigibson.macros import create_module_macros
 from omnigibson.utils.ui_utils import create_module_logger, draw_line
 
 # Create module logger