Merge branch 'main' of https://github.com/ACMLCZH/Genesis

Author: ACMLCZH

.github/CONTRIBUTING.md

@@ -61,7 +61,7 @@ Thank you for your interest in contributing to Genesis! We welcome contributions
 - (Optional) You can run CI tests locally to ensure you pass the online CI checks.
 
   ```python
-  python -m unittest discover tests
+  pytest -v --forked -m required ./tests
   ```
 
 - In the title of your Pull Request, please include [BUG FIX], [FEATURE] or [MISC] to indicate the purpose.

.github/workflows/generic-cpu.yml .github/workflows/generic.yml.github/workflows/generic-cpu.yml renamed to .github/workflows/generic.yml

@@ -1,10 +1,14 @@
-name: Generic - CPU only
+name: Generic
 
 on:
   pull_request:
     branches:
       - main
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
 jobs:
   generic-cpu:
     strategy:
@@ -52,13 +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: |

.github/workflows/linux-gpu.yml .github/workflows/production.yml.github/workflows/linux-gpu.yml renamed to .github/workflows/production.yml

@@ -1,4 +1,4 @@
-name: Linux x86 - Nvidia GPU
+name: Production
 
 on:
   # Trigger the workflow on push on the master branch, or for any pull request
@@ -7,6 +7,12 @@ on:
       - main
   pull_request:
 
+concurrency:
+  # Cancel all workflows that are stil running if any when updating branches associated with PRs,
+  # BUT don't do anything for workflows that are not triggered by PRs.
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
 jobs:
   linux-gpu:
     runs-on: [self-hosted, coreweave]
@@ -35,6 +41,12 @@ jobs:
 
           mkdir -p "${HOME}/.cache"
 
+          # Prefer idle nodes if any
+          IDLE_NODES=$(sinfo -h -o "%N %t" | awk '$2 == "idle" {print $1}')
+          if [[ -n "$IDLE_NODES" ]]; then
+            NODELIST="--nodelist=$IDLE_NODES"
+          fi
+
           srun \
             --container-image="/mnt/data/images/genesis-v${GENESIS_IMAGE_VER}.sqsh" \
             --container-mounts=\
@@ -44,7 +56,7 @@ jobs:
             --export=\
           HF_TOKEN="${HF_TOKEN}",\
           NVIDIA_DRIVER_CAPABILITIES=all \
-            --partition=hpc-mid --nodes=1 --gpus=1 --time="${TIMEOUT_MINUTES}" \
+            --partition=hpc-mid ${NODELIST} --nodes=1 --time="${TIMEOUT_MINUTES}" \
             --job-name=${SLURM_JOB_NAME} \
             bash -c "
               pip install -e '.[dev,render]' && \
@@ -69,16 +81,16 @@ jobs:
           "${{ github.workspace }}":/root/workspace \
             --no-container-mount-home --container-workdir=/root/workspace \
             --export=${SLURM_ENV_VARS} \
-            --partition=hpc-mid --exclusive --nodes=1 --gpus=1 --time="${TIMEOUT_MINUTES}" \
+            --partition=hpc-mid --exclusive --nodes=1 --time="${TIMEOUT_MINUTES}" \
             --job-name=${SLURM_JOB_NAME} \
             bash -c "
               : # sudo apt install -y tmate && \
               tmate -S /tmp/tmate.sock new-session -d && \
               tmate -S /tmp/tmate.sock wait tmate-ready && \
               tmate -S /tmp/tmate.sock display -p '#{tmate_ssh}'
               pip install -e '.[dev,render]' && \
-              pytest --print -x -m 'benchmarks' --backend gpu ./tests && \
-              cp 'speed_test.txt' '/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt'
+              pytest --print -x -m 'benchmarks' ./tests && \
+              cat speed_test*.txt > '/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt'
               : # tmate -S /tmp/tmate.sock wait tmate-exit
             "
 

.pre-commit-config.yaml

@@ -1,8 +1,5 @@
 repos:
   - repo: https://github.com/psf/black
-    rev: 25.1.0  # Use the latest version or specify the version you prefer
+    rev: 25.1.0
     hooks:
       - id: black
-        args:
-          - --line-length=120
-          - .

README.md

@@ -18,6 +18,7 @@
 # Genesis
 
 ## 🔥 News
+- [2025-07-02] The development of Genesis is now officially supported by [Genesis AI](https://genesis-ai.company/).
 - [2025-01-09] We released a [detailed performance benchmarking and comparison report](https://github.com/zhouxian/genesis-speed-benchmark) on Genesis, together with all the test scripts.
 - [2025-01-08] Released v0.2.1 🎊 🎉
 - [2025-01-08] Created [Discord](https://discord.gg/nukCuhB47p) and [Wechat](https://drive.google.com/uc?export=view&id=1ZS9nnbQ-t1IwkzJlENBYqYIIOOZhXuBZ) group.
@@ -113,6 +114,31 @@ docker run --gpus all --rm -it \
 genesis
 ```
 
+### AMD users
+AMD users can use Genesis using the `docker/Dockerfile.amdgpu` file, which is built by running:
+```
+docker build -t genesis-amd -f docker/Dockerfile.amdgpu docker
+```
+
+and can then be used by running:
+
+```xhost +local:docker \
+docker run -it --network=host \
+ --device=/dev/kfd \
+ --device=/dev/dri \
+ --group-add=video \
+ --ipc=host \
+ --cap-add=SYS_PTRACE \
+ --security-opt seccomp=unconfined \
+ --shm-size 8G \
+ -v $PWD:/workspace \
+ -e DISPLAY=$DISPLAY \
+ genesis-amd
+ ```
+
+The examples will be accessible from `/workspace/examples`. Note: AMD users should use the vulkan backend. This means you will need to call `gs.init(vulkan)` to initialise Genesis.
+
+
 ## Documentation
 
 Comprehensive documentation is available in [English](https://genesis-world.readthedocs.io/en/latest/user_guide/index.html), [Chinese](https://genesis-world.readthedocs.io/zh-cn/latest/user_guide/index.html), and [Japanese](https://genesis-world.readthedocs.io/ja/latest/user_guide/index.html). This includes detailed installation steps, tutorials, and API references.

docker/Dockerfile.amdgpu

@@ -0,0 +1,26 @@
+#FROM rocm/pytorch:rocm6.4.1_ubuntu22.04_py3.10_pytorch_release_2.4.1
+FROM rocm/pytorch:rocm6.4.1_ubuntu22.04_py3.10_pytorch_release_2.6.0
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+WORKDIR /workspace/examples
+
+# Install Vulkan
+RUN wget -qO- https://packages.lunarg.com/lunarg-signing-key-pub.asc | tee /etc/apt/trusted.gpg.d/lunarg.asc
+RUN wget -qO /etc/apt/sources.list.d/lunarg-vulkan-1.4.309-jammy.list https://packages.lunarg.com/vulkan/1.4.309/lunarg-vulkan-1.4.309-jammy.list
+RUN apt update
+RUN apt install -y vulkan-sdk
+
+# handle add the render group
+RUN groupadd -f render
+RUN usermod -aG render root
+RUN usermod -aG video root
+
+# Necessary for visualisation on Wayland backed systems like Ubuntu
+ENV PYOPENGL_PLATFORM='glx'
+
+# Install Genesis verified against 0.2.1
+RUN pip3 install genesis-world trimesh
+
+# Workaround for igl issue
+RUN pip3 install libigl==2.5.1 

examples/collision/pyramid.py

@@ -0,0 +1,60 @@
+import numpy as np
+import genesis as gs
+import argparse
+
+pile_type = "static"
+num_cubes = 5
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--pile_type", type=str, default=pile_type, choices=["static", "falling"])
+parser.add_argument("--num_cubes", type=int, default=num_cubes, choices=range(5, 11))
+parser.add_argument("--cpu", action="store_true", help="Use CPU backend instead of GPU")
+args = parser.parse_args()
+
+pile_type = args.pile_type
+num_cubes = args.num_cubes
+cpu = args.cpu
+backend = gs.cpu if cpu else gs.gpu
+
+gs.init(backend=backend, precision="32")
+
+scene = gs.Scene(
+    sim_options=gs.options.SimOptions(
+        dt=0.01,
+    ),
+    rigid_options=gs.options.RigidOptions(
+        box_box_detection=False,
+        max_collision_pairs=1000,
+        use_gjk_collision=True,
+        enable_mujoco_compatibility=False,
+    ),
+    viewer_options=gs.options.ViewerOptions(
+        camera_pos=(0, -5.5, 2.5),
+        camera_lookat=(0, 0.0, 1.5),
+        camera_fov=30,
+        max_FPS=60,
+    ),
+    show_viewer=True,
+)
+
+plane = scene.add_entity(gs.morphs.Plane(pos=(0, 0, 0)))
+
+# create pyramid of boxes
+box_size = 0.25
+if pile_type == "static":
+    box_spacing = box_size
+else:
+    box_spacing = 1.1 * box_size
+vec_one = np.array([1.0, 1.0, 1.0])
+box_pos_offset = (0 - 0.5, 1, 0.0) + 0.5 * box_size * vec_one
+boxes = {}
+for i in range(num_cubes):
+    for j in range(num_cubes - i):
+        box = scene.add_entity(
+            gs.morphs.Box(size=box_size * vec_one, pos=box_pos_offset + box_spacing * np.array([i + 0.5 * j, 0, j])),
+        )
+
+scene.build()
+
+for i in range(1000):
+    scene.step()

examples/collision/tower.py

@@ -0,0 +1,95 @@
+import numpy as np
+import genesis as gs
+import argparse
+
+object_type = "cylinder"
+
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    "--object",
+    type=str,
+    default=object_type,
+    choices=["sphere", "cylinder", "duck"],
+)
+args = parser.parse_args()
+object_type = args.object
+
+gs.init(backend=gs.cpu, precision="32")
+
+scene = gs.Scene(
+    sim_options=gs.options.SimOptions(
+        dt=0.005,
+    ),
+    rigid_options=gs.options.RigidOptions(
+        box_box_detection=False,
+        max_collision_pairs=2000,
+        use_gjk_collision=True,
+        enable_mujoco_compatibility=False,
+    ),
+    viewer_options=gs.options.ViewerOptions(
+        camera_pos=(20, -20, 20),
+        camera_lookat=(0.0, 0.0, 5.0),
+        camera_fov=30,
+        max_FPS=60,
+    ),
+    show_viewer=True,
+)
+
+plane = scene.add_entity(gs.morphs.Plane(pos=(0, 0, 0)))
+
+# create pyramid of boxes
+box_width = 0.25
+box_length = 2.0
+box_height = 0.1
+num_stacks = 50
+height_offset = 0.0
+for i in range(num_stacks):
+    horizontal = i % 2 == 0
+
+    if horizontal:
+        box_size = np.array([box_width, box_length, box_height])
+        box_pos_0 = (-0.4 * box_length, 0, i * (height_offset + box_size[2]) + 0.5 * box_size[2])
+        box_pos_1 = (+0.4 * box_length, 0, i * (height_offset + box_size[2]) + 0.5 * box_size[2])
+    else:
+        box_size = np.array([box_length, box_width, box_height])
+        box_pos_0 = (0, -0.4 * box_length, i * (height_offset + box_size[2]) + 0.5 * box_size[2])
+        box_pos_1 = (0, +0.4 * box_length, i * (height_offset + box_size[2]) + 0.5 * box_size[2])
+
+    scene.add_entity(
+        gs.morphs.Box(size=box_size, pos=box_pos_0),
+    )
+    scene.add_entity(
+        gs.morphs.Box(size=box_size, pos=box_pos_1),
+    )
+
+# Drop a huge mesh
+if object_type == "duck":
+    duck_scale = 1.0
+    duck = scene.add_entity(
+        morph=gs.morphs.Mesh(
+            file="meshes/duck.obj",
+            scale=duck_scale,
+            pos=(0, 0, num_stacks * (height_offset + box_height) + 10 * duck_scale),
+        ),
+    )
+elif object_type == "sphere":
+    sphere_radius = 2.0
+    scene.add_entity(
+        morph=gs.morphs.Sphere(
+            radius=sphere_radius, pos=(0.0, 0.0, num_stacks * (height_offset + box_height) + 5 * sphere_radius)
+        ),
+    )
+elif object_type == "cylinder":
+    cylinder_radius = 2.0
+    cylinder_height = 1.0
+    scene.add_entity(
+        morph=gs.morphs.Cylinder(
+            radius=cylinder_radius,
+            height=cylinder_height,
+            pos=(0.0, 0.0, num_stacks * (height_offset + box_height) + 5 * cylinder_height),
+        ),
+    )
+
+scene.build()
+for i in range(5000):
+    scene.step()

examples/drone/hover_env.py

@@ -1,5 +1,6 @@
 import torch
 import math
+import copy
 import genesis as gs
 from genesis.utils.geom import quat_to_xyz, transform_by_quat, inv_quat, transform_quat_by_quat
 
@@ -28,7 +29,7 @@ def __init__(self, num_envs, env_cfg, obs_cfg, reward_cfg, command_cfg, show_vie
         self.command_cfg = command_cfg
 
         self.obs_scales = obs_cfg["obs_scales"]
-        self.reward_scales = reward_cfg["reward_scales"]
+        self.reward_scales = copy.deepcopy(reward_cfg["reward_scales"])
 
         # create scene
         self.scene = gs.Scene(
@@ -121,10 +122,11 @@ def _resample_commands(self, envs_idx):
         self.commands[envs_idx, 2] = gs_rand_float(*self.command_cfg["pos_z_range"], (len(envs_idx),), gs.device)
 
     def _at_target(self):
-        at_target = (
-            (torch.norm(self.rel_pos, dim=1) < self.env_cfg["at_target_threshold"]).nonzero(as_tuple=False).flatten()
+        return (
+            (torch.norm(self.rel_pos, dim=1) < self.env_cfg["at_target_threshold"])
+            .nonzero(as_tuple=False)
+            .reshape((-1,))
         )
-        return at_target
 
     def step(self, actions):
         self.actions = torch.clip(actions, -self.env_cfg["clip_actions"], self.env_cfg["clip_actions"])
@@ -134,7 +136,7 @@ def step(self, actions):
         self.drone.set_propellels_rpm((1 + exec_actions * 0.8) * 14468.429183500699)
         # update target pos
         if self.target is not None:
-            self.target.set_pos(self.commands, zero_velocity=True, envs_idx=list(range(self.num_envs)))
+            self.target.set_pos(self.commands, zero_velocity=True)
         self.scene.step()
 
         # update buffers
@@ -168,11 +170,11 @@ def step(self, actions):
         )
         self.reset_buf = (self.episode_length_buf > self.max_episode_length) | self.crash_condition
 
-        time_out_idx = (self.episode_length_buf > self.max_episode_length).nonzero(as_tuple=False).flatten()
+        time_out_idx = (self.episode_length_buf > self.max_episode_length).nonzero(as_tuple=False).reshape((-1,))
         self.extras["time_outs"] = torch.zeros_like(self.reset_buf, device=gs.device, dtype=gs.tc_float)
         self.extras["time_outs"][time_out_idx] = 1.0
 
-        self.reset_idx(self.reset_buf.nonzero(as_tuple=False).flatten())
+        self.reset_idx(self.reset_buf.nonzero(as_tuple=False).reshape((-1,)))
 
         # compute reward
         self.rew_buf[:] = 0.0