[MISC] Migrate from 'taichi' to 'gstaichi'.

examples/smoke.py

@@ -2,7 +2,7 @@
 from pathlib import Path
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import cv2
 
 import genesis as gs

genesis/__init__.py

@@ -8,13 +8,13 @@
 from platform import system
 from contextlib import redirect_stdout
 
-# Import taichi while collecting its output without printing directly
+# Import gstaichi while collecting its output without printing directly
 _ti_outputs = io.StringIO()
 
 os.environ.setdefault("TI_ENABLE_PYBUF", "0" if sys.stdout is sys.__stdout__ else "1")
 
 with redirect_stdout(_ti_outputs):
-    import taichi as ti
+    import gstaichi as ti
 
 try:
     import torch
@@ -211,7 +211,7 @@ def init(
     if (backend == gs_backend.metal) and (os.environ.get("TI_ENABLE_METAL") == "0"):
         ti_arch = TI_ARCH[platform][gs_backend.cpu]
 
-    # init taichi
+    # init gstaichi
     with redirect_stdout(_ti_outputs):
         ti.init(
             arch=ti_arch,
@@ -230,7 +230,7 @@ def init(
             **taichi_kwargs,
         )
 
-    # Make sure that taichi arch is matching requirement
+    # Make sure that gstaichi arch is matching requirement
     ti_runtime = ti.lang.impl.get_runtime()
     ti_arch = ti_runtime.prog.config().arch
     if backend != gs.cpu and ti_arch in (ti._lib.core.Arch.arm64, ti._lib.core.Arch.x64):
@@ -297,7 +297,7 @@ def destroy():
         del scene
     global_scene_list.clear()
 
-    # Reset taichi
+    # Reset gstaichi
     ti.reset()
 
     # Delete logger

genesis/_main.py

@@ -9,8 +9,8 @@
 
 import numpy as np
 import torch
-from taichi._lib import core as _ti_core
-from taichi.lang import impl
+from gstaichi._lib import core as _ti_core
+from gstaichi.lang import impl
 
 import genesis as gs
 
@@ -98,7 +98,7 @@ def get_motors_info(robot):
 
 
 def clean():
-    print("Cleaned up all genesis and taichi cache files...")
+    print("Cleaned up all genesis and gstaichi cache files...")
     gs.utils.misc.clean_cache_files()
     _ti_core.clean_offline_cache_files(os.path.abspath(impl.default_cfg().offline_cache_file_path))
 
@@ -219,7 +219,7 @@ def main():
     parser = argparse.ArgumentParser(description="Genesis CLI")
     subparsers = parser.add_subparsers(dest="command")
 
-    parser_clean = subparsers.add_parser("clean", help="Clean all the files cached by genesis and taichi")
+    parser_clean = subparsers.add_parser("clean", help="Clean all the files cached by genesis and gstaichi")
 
     parser_view = subparsers.add_parser("view", help="Visualize a given asset (mesh/URDF/MJCF)")
     parser_view.add_argument("filename", type=str, help="File to visualize")

genesis/constants.py

@@ -1,6 +1,6 @@
 import enum
 
-import taichi as ti
+import gstaichi as ti
 
 # dynamic loading
 ACTIVE = 1

genesis/engine/boundaries/boundaries.py

@@ -1,7 +1,7 @@
 import copy
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.utils.misc import *

genesis/engine/bvh.py

@@ -1,5 +1,5 @@
 import genesis as gs
-import taichi as ti
+import gstaichi as ti
 from genesis.repr_base import RBC
 import numpy as np
 

genesis/engine/couplers/legacy_coupler.py

@@ -1,7 +1,7 @@
 from typing import TYPE_CHECKING
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.options.solvers import LegacyCouplerOptions

genesis/engine/couplers/sap_coupler.py

@@ -2,7 +2,7 @@
 import math
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.options.solvers import SAPCouplerOptions

genesis/engine/entities/avatar_entity/avatar_entity.py

@@ -1,7 +1,7 @@
 import numpy as np
 import numpy.typing as npt
 
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidEntity
 from .avatar_joint import AvatarJoint

genesis/engine/entities/avatar_entity/avatar_geom.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidGeom, RigidVisGeom
 

genesis/engine/entities/avatar_entity/avatar_joint.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidJoint
 

genesis/engine/entities/avatar_entity/avatar_link.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidLink
 from .avatar_geom import AvatarGeom, AvatarVisGeom

genesis/engine/entities/base_entity.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.repr_base import RBC

genesis/engine/entities/drone_entity.py

@@ -2,7 +2,7 @@
 import xml.etree.ElementTree as ET
 
 import torch
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.misc as mu

genesis/engine/entities/emitter.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu

genesis/engine/entities/fem_entity.py

@@ -1,6 +1,6 @@
 import igl
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs

genesis/engine/entities/hybrid_entity.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import trimesh
 
 import genesis as gs

genesis/engine/entities/mpm_entity.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs

genesis/engine/entities/particle_entity.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 import trimesh
 from scipy.spatial import KDTree

genesis/engine/entities/pbd_entity.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 from scipy.spatial import KDTree
 
 import genesis as gs

genesis/engine/entities/rigid_entity/rigid_entity.py

@@ -3,7 +3,7 @@
 from typing import Literal, TYPE_CHECKING
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 import trimesh
 

genesis/engine/entities/rigid_entity/rigid_equality.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs

genesis/engine/entities/rigid_entity/rigid_geom.py

@@ -6,7 +6,7 @@
 import numpy as np
 from numpy.typing import NDArray
 import skimage
-import taichi as ti
+import gstaichi as ti
 import torch
 import trimesh
 

genesis/engine/entities/rigid_entity/rigid_joint.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs

genesis/engine/entities/rigid_entity/rigid_link.py

@@ -1,9 +1,9 @@
 from typing import TYPE_CHECKING
 
+import gstaichi as ti
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
-import taichi as ti
 import torch
+from numpy.typing import ArrayLike
 
 import genesis as gs
 import trimesh

genesis/engine/entities/sf_entity.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 from scipy.spatial import KDTree
 
 import genesis as gs

genesis/engine/entities/sph_entity.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.engine.states.entities import SPHEntityState

genesis/engine/entities/tool_entity/mesh.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu

genesis/engine/entities/tool_entity/tool_entity.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs

genesis/engine/force_fields.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.repr_base import RBC

genesis/engine/materials/FEM/base.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/FEM/elastic.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/FEM/muscle.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 import genesis as gs
 from .elastic import Elastic
 

genesis/engine/materials/MPM/base.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/MPM/elastic.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
@@ -12,8 +12,9 @@ class Elastic(Base):
 
     Note
     ----
-    Reference for the default values of `E` and `nu`: https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L201
     Elastic objects is softened by multiplying the default E by 0.3.
+    Reference for the default values of `E` and `nu`:
+    https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L201
 
     Parameters
     ----------

genesis/engine/materials/MPM/elasto_plastic.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/MPM/liquid.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/MPM/muscle.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/MPM/sand.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/MPM/snow.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 

genesis/engine/materials/PBD/base.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 from ..base import Material
 

genesis/engine/materials/PBD/cloth.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 

genesis/engine/materials/PBD/elastic.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 

genesis/engine/materials/PBD/liquid.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 

genesis/engine/materials/PBD/particle.py

@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 

genesis/engine/materials/SF/base.py

@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 from ..base import Material