Deprecated torch < 2.0.0.

.circleci/config.yml

@@ -5,15 +5,6 @@ version: 2.1
 # Executors
 # -------------------------------------------------------------------------------------
 executors:
-  gpu_cuda10:
-    environment:
-      CUDA_VERSION: "10.2"
-      CUDA_HOME: "/usr/local/cuda"
-      PYTHONUNBUFFERED: 1
-    machine:
-      image: ubuntu-2004:202107-02
-    resource_class: gpu.nvidia.small.multi # NVIDIA Tesla T4 2 GPU 4 vCPUs 15 GB RAM
-
   gpu_cuda11:
     environment:
       CUDA_VERSION: "11.4"
@@ -103,35 +94,20 @@ setup_environment_310: &setup_environment_310
         pip install --progress-bar off --upgrade pip
         pip install --progress-bar off --upgrade setuptools
 
-install_torch_cuda10: &install_torch_cuda10
-  - run:
-      name: Install Torch for cuda10
-      working_directory: ~/project
-      command: |
-        pip install --progress-bar off torch==1.12.1+cu102 torchvision==0.13.1+cu102 torchaudio==0.12.1+cu102 -f https://download.pytorch.org/whl/cu102/torch_stable.html
-        python -c 'import torch; print("Torch version:", torch.__version__); assert torch.cuda.is_available()'
-
 install_torch_cuda11: &install_torch_cuda11
   - run:
       name: Install Torch for cuda11
       working_directory: ~/project
       command: |
-        pip install --progress-bar off torch==1.13.0 torchvision==0.14.0 torchaudio==0.13.0 --extra-index-url https://download.pytorch.org/whl/cu117
+        pip install --progress-bar off torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu117
         python -c 'import torch; print("Torch version:", torch.__version__); assert torch.cuda.is_available()'
 
-install_functorch_021: &install_functorch_021
-  - run:
-      name: Install Functorch
-      working_directory: ~/project
-      command: |
-        pip install functorch==0.2.1
-
 install_torch: &install_torch
   - run:
       name: Install Torch
       working_directory: ~/project
       command: |
-        pip install torch==1.13.0
+        pip install torch
 
 install_recent_cmake_2004: &install_recent_cmake_2004
   - run:
@@ -230,7 +206,7 @@ build_cuda11_wheel: &build_cuda11_wheel
       working_directory: /home/circleci
       command: |
         THESEUS_GIT_COMMIT=$(git --git-dir project/.git log --format="%H" -n 1)
-        THESEUS_VERSION=$(grep -Eo  "[0-9].[0-9].[0-9][.0-9a-z]*" project/theseus/__init__.py)
+        THESEUS_VERSION=$(grep -Eo  "[0-9].[0-9].[0-9][.0-9a-z]*" project/theseus/_version.py | tail -n 1)
         ./project/build_scripts/build_wheel.sh . ${THESEUS_GIT_COMMIT} 11.6 ${THESEUS_VERSION}
         source ~/conda/bin/activate theseus
         pip install $(ls */*.whl)
@@ -379,21 +355,6 @@ jobs:
       - <<: *run_other_unit_tests
 
 # ------- GPU only jobs -------
-  unittests_gpu17_cuda10:
-    executor: gpu_cuda10
-    steps:
-      - checkout
-      - <<: *update_and_install_python
-      - <<: *install_suitesparse
-      - <<: *setup_cuda10_libs
-      - <<: *setup_environment
-      - <<: *install_torch_cuda10
-      - <<: *install_functorch_021
-      - <<: *install_recent_cmake_2004
-      - <<: *build_baspacho_cuda
-      - <<: *setup_project
-      - <<: *run_gpu_tests
-
   unittests_gpu17_cuda11:
     executor: gpu_cuda11
     steps:
@@ -426,7 +387,6 @@ workflows:
   version: 2
   build:
     jobs:
-      - unittests_gpu17_cuda10
       - unittests_gpu17_cuda11
       - test_cuda11_wheel
       - py38_precommit

build_scripts/build_wheel.sh

@@ -10,12 +10,12 @@
 # ROOT_DIR: is the directory where the Dockerfile, tar.gz and .whl files will be stored
 #   (under a new subdirectory named theseus_docker_3.9)
 # COMMIT: is a theseus commit hash or tag (e.g., 0.1.3).
-# CUDA_VERSION: the version of CUDA to use. We have tested 10.2, 11.3, 11.6, and 11.7.
+# CUDA_VERSION: the version of CUDA to use. We have tested 11.3, 11.6, and 11.7.
 #   You can also pass "cpu" to compile without CUDA extensions.
 # THESEUS_VERSION: defaults to COMMIT, otherwise it must match the version in the commit.
 # INCLUDE_LABS: if !=0, the compiled wheel also includes Theseus Labs.
 #   For example
-#    ./build_scripts/build_wheel.sh . 0.1.0 10.2
+#    ./build_scripts/build_wheel.sh . 0.1.4 11.3
 # NIGHTLY: if !=0, compiles a wheel for the nightly package (forces INCLUDE_LABS=1).
 #   THESEUS_VERSION and COMMIT are also ignored, since version is set to YYYY.MM.DD.
 #   and commit is set to `main`.
@@ -57,7 +57,7 @@ else
     GIT_CMD="git checkout ${COMMIT} -b tmp_build"
 fi
 
-SUPPORTED_CUDA_VERSIONS="10.2 11.3 11.6 11.7"
+SUPPORTED_CUDA_VERSIONS="11.3 11.6 11.7"
 CUDA_VERSION_IS_SUPPORTED=$(echo "cpu ${SUPPORTED_CUDA_VERSIONS}" | grep -w ${CUDA_VERSION})
 [ "${CUDA_VERSION_IS_SUPPORTED}" ] || die "CUDA_VERSION must be one of (cpu ${SUPPORTED_CUDA_VERSIONS})"
 

requirements/main.txt

@@ -3,6 +3,5 @@ scipy>=1.5.3
 scikit-sparse>=0.4.5
 pytest>=6.2.1
 pybind11>=2.7.1
-functorch==0.2.1 # > 0.2.1 will install torch1.13, which breaks CUDA 10.2
 semantic-version==2.10.0
 torchlie

setup.py

@@ -110,9 +110,9 @@ def maybe_create_baspacho_extension(has_cuda):
 if is_nightly:
     version = nightly_date_str
 else:
-    with open(Path("theseus") / "__init__.py", "r") as f:
+    with open(Path("theseus") / "_version.py", "r") as f:
         for line in f:
-            if "__version__" in line:
+            if "__version__ = " in line:
                 version = line.split("__version__ = ")[1].rstrip().strip('"')
 
 with open("README.md", "r") as fh:

theseus/__init__.py

@@ -2,7 +2,7 @@
 #
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
-__version__ = "0.1.4"
+from ._version import __version__
 
 from .constants import DeviceType as DeviceType
 

theseus/_version.py

@@ -0,0 +1,13 @@
+import warnings
+
+from torch import __version__ as _torch_version
+from semantic_version import Version
+
+if Version(_torch_version) < Version("2.0.0"):
+    warnings.warn(
+        "Using torch < 2.0 is deprecated and support will be discontinued "
+        " in future releases.",
+        FutureWarning,
+    )
+
+__version__ = "0.2.0.dev0"

theseus/core/cost_function.py

@@ -11,7 +11,11 @@
 
 import torch
 import torch.autograd.functional as autogradF
-from functorch import jacrev, vmap
+
+try:
+    from torch.func import jacrev, vmap
+except ModuleNotFoundError:
+    from functorch import jacrev, vmap  # type: ignore
 from typing_extensions import Protocol
 
 from theseus.geometry import Manifold