[MISC] Fix OSMesa software rendering pipeline on Windows CI. (Genesis-Embodied-AI#1418)

* Fix OSMesa software rendering on Windows CI.
* More robust multisampling config.
* Raise exception if using 'osmesa' PyOpenGL platform on Windows OS.
* Prevent managing multiple scene concurrently if interactive viewer is enabled.
* Enable OSMesa fallback on Linux.

Author: duburcqa

.github/workflows/generic.yml

@@ -56,13 +56,11 @@ jobs:
         shell: bash
         run: |
           # FIXME: Updating to 25.1.0 breaks rendering regardless PYOPENGL_PLATFORM is set to osmesa or egl.
-          curl -L -o mesa.7z https://github.com/pal1000/mesa-dist-win/releases/download/24.3.4/mesa3d-24.3.4-release-msvc.7z
+          curl -L -o mesa.7z https://github.com/pal1000/mesa-dist-win/releases/download/23.3.3/mesa3d-23.3.3-release-msvc.7z
           7z x mesa.7z -omesa
           mv -v mesa/x64/* /C/Windows/System32/
           ls -alt /C/Windows/System32/opengl32.dll
 
-          echo "PYOPENGL_PLATFORM=osmesa" >> $GITHUB_ENV
-
       - name: Install system dependencies (Linux)
         if: startsWith(matrix.OS, 'ubuntu-')
         run: |

genesis/ext/pyrender/offscreen.py

@@ -208,7 +208,7 @@ def _create(self, platform):
 
             self._platform = OSMesaPlatform(self.viewport_width, self.viewport_height)
         else:
-            raise ValueError("Unsupported PyOpenGL platform: {}".format(os.environ["PYOPENGL_PLATFORM"]))
+            raise ValueError("Unsupported PyOpenGL platform: {}".format(platform))
         self._platform.init_context()
         self._platform.make_current()
 

genesis/ext/pyrender/renderer.py

@@ -1198,12 +1198,15 @@ def _configure_main_framebuffer(self):
             glFramebufferRenderbuffer(GL_DRAW_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, self._main_db)
 
             # Generate multisample buffer
+            num_samples = min(glGetIntegerv(GL_MAX_SAMPLES), 4)
             self._main_cb_ms, self._main_db_ms = glGenRenderbuffers(2)
             glBindRenderbuffer(GL_RENDERBUFFER, self._main_cb_ms)
-            glRenderbufferStorageMultisample(GL_RENDERBUFFER, 4, GL_RGBA, self.viewport_width, self.viewport_height)
+            glRenderbufferStorageMultisample(
+                GL_RENDERBUFFER, num_samples, GL_RGBA, self.viewport_width, self.viewport_height
+            )
             glBindRenderbuffer(GL_RENDERBUFFER, self._main_db_ms)
             glRenderbufferStorageMultisample(
-                GL_RENDERBUFFER, 4, GL_DEPTH_COMPONENT24, self.viewport_width, self.viewport_height
+                GL_RENDERBUFFER, num_samples, GL_DEPTH_COMPONENT24, self.viewport_width, self.viewport_height
             )
             self._main_fb_ms = glGenFramebuffers(1)
             glBindFramebuffer(GL_DRAW_FRAMEBUFFER, self._main_fb_ms)

genesis/options/vis.py

@@ -17,12 +17,14 @@ class ViewerOptions(Options):
     ----------
     res : tuple, shape (2,), optional
         The resolution of the viewer. If not set, will auto-compute using resolution of the connected display.
-    run_in_thread: bool
-        Whether to run the viewer in a background thread. This option is not supported on MacOS. True by default if available.
+    run_in_thread : bool
+        Whether to run the viewer in a background thread. This option is not supported on MacOS. True by default if
+        available.
     refresh_rate : int
         The refresh rate of the viewer.
     max_FPS : int | None
-        The FPS (frames per second) the viewer will be capped at. Note that this will also synchronize the simulation speed. If not set, the viewer will render at maximum speed.
+        The FPS (frames per second) the viewer will be capped at. Note that this will also synchronize the simulation
+        speed. If not set, the viewer will render at maximum speed.
     camera_pos : tuple of float, shape (3,)
         The position of the viewer's camera.
     camera_lookat : tuple of float, shape (3,)

genesis/vis/rasterizer.py

@@ -1,5 +1,6 @@
-import os
 import gc
+import os
+import sys
 
 import numpy as np
 
@@ -26,6 +27,8 @@ def build(self):
         if self._offscreen:
             # if environment variable is set, use the platform specified, otherwise some platform-specific default
             platform = os.environ.get("PYOPENGL_PLATFORM", "egl" if gs.platform == "Linux" else "pyglet")
+            if sys.platform == "win32" and platform == "osmesa":
+                gs.raise_exception("PYOPENGL_PLATFORM='osmesa' is not supported on Windows OS.")
             self._renderer = pyrender.OffscreenRenderer(
                 pyopengl_platform=platform, seg_node_map=self._context.seg_node_map
             )

genesis/vis/viewer.py

@@ -65,9 +65,14 @@ def build(self, scene):
         if opengl_platform_orig is None:
             if gs.platform == "Windows":
                 all_opengl_platforms = ("wgl",)  # same as "native"
+            elif gs.platform == "Linux":
+                # "native" is platform-specific ("egl" or "glx")
+                all_opengl_platforms = ("native", "egl", "glx", "osmesa")
             else:
-                all_opengl_platforms = ("native", "egl", "glx")  # "native" is platform-specific ("egl" or "glx")
+                all_opengl_platforms = ("native",)
         else:
+            if gs.platform == "Windows" and opengl_platform_orig == "osmesa":
+                gs.raise_exception("PYOPENGL_PLATFORM='osmesa' is not supported on Windows OS.")
             all_opengl_platforms = (opengl_platform_orig,)
 
         for i, platform in enumerate(all_opengl_platforms):
@@ -108,11 +113,10 @@ def build(self, scene):
 
                 if i == len(all_opengl_platforms) - 1:
                     raise
-            finally:
-                if opengl_platform_orig is None:
-                    del os.environ["PYOPENGL_PLATFORM"]
-                else:
-                    os.environ["PYOPENGL_PLATFORM"] = opengl_platform_orig
+
+            # Select PyOpenGL backend compatible with `pyrender.OffscreenRenderer`
+            if platform not in ("osmesa", "pyglet", "egl"):
+                os.environ["PYOPENGL_PLATFORM"] = "pyglet"
 
         self.lock = ViewerLock(self._pyrender_viewer)
 

genesis/vis/visualizer.py

@@ -60,6 +60,12 @@ def __init__(self, scene, show_viewer, vis_options, viewer_options, renderer):
             self._connected_to_display = False
 
         if show_viewer:
+            if gs.global_scene_list:
+                raise gs.raise_exception(
+                    "Interactive viewer not supported when managing multiple scenes. Please set `show_viewer=False` "
+                    "or call `scene.destroy`."
+                )
+
             if viewer_options.res is None:
                 viewer_height = (screen.height * scale) * VIEWER_DEFAULT_HEIGHT_RATIO
                 viewer_width = viewer_height / VIEWER_DEFAULT_ASPECT_RATIO

tests/test_render.py

@@ -13,7 +13,6 @@
 @pytest.mark.required
 @pytest.mark.parametrize("segmentation_level", ["entity", "link"])
 @pytest.mark.parametrize("particle_mode", ["visual", "particle"])
-@pytest.mark.xfail(reason="This test is not passing on all platforms for now.")
 def test_segmentation(segmentation_level, particle_mode):
     """Test segmentation rendering."""
     scene = gs.Scene(
@@ -87,7 +86,6 @@ def test_segmentation(segmentation_level, particle_mode):
 
 @pytest.mark.required
 @pytest.mark.skipif(sys.platform == "darwin", reason="Segfault inside 'shadow_mapping_pass' on MacOS VM.")
-@pytest.mark.xfail(reason="This test is not passing on all platforms for now.")
 def test_batched_offscreen_rendering(show_viewer, tol):
     scene = gs.Scene(
         vis_options=gs.options.VisOptions(
@@ -243,7 +241,6 @@ def test_batched_offscreen_rendering(show_viewer, tol):
 
 @pytest.mark.required
 @pytest.mark.skipif(sys.platform == "darwin", reason="Segfault inside 'shadow_mapping_pass' on MacOS VM.")
-@pytest.mark.xfail(reason="This test is not passing on all platforms for now.")
 def test_batched_mounted_camera_rendering(show_viewer, tol):
     scene = gs.Scene(
         vis_options=gs.options.VisOptions(