Merge branch 'main' into sensors

Author: Milotrince

.github/workflows/production.yml

@@ -25,6 +25,8 @@ jobs:
       GENESIS_IMAGE_VER: "1_1"
       TIMEOUT_MINUTES: 180
       MADRONA_DISABLE_CUDA_HEAP_SIZE: "1"
+      OMNI_KIT_ACCEPT_EULA: "yes"
+      OMNI_KIT_ALLOW_ROOT: "1"
 
     steps:
       - name: Checkout code
@@ -48,6 +50,9 @@ jobs:
             NODELIST="--nodelist=$IDLE_NODES"
           fi
 
+          # TODO: USD baking does not currently support Python 3.11 since
+          # NVIDIA does not currently release `omniverse-kit==107.3` on PyPI.
+          # See: https://github.com/Genesis-Embodied-AI/Genesis/pull/1300
           srun \
             --container-image="/mnt/data/images/genesis-v${GENESIS_IMAGE_VER}.sqsh" \
             --container-mounts=\
@@ -60,7 +65,8 @@ jobs:
             --partition=hpc-mid ${NODELIST} --nodes=1 --time="${TIMEOUT_MINUTES}" \
             --job-name=${SLURM_JOB_NAME} \
             bash -c "
-              pip install -e '.[dev,render]' && \
+              pip install --extra-index-url https://pypi.nvidia.com/ omniverse-kit && \
+              pip install -e '.[dev,render,usd]' && \
               pytest -v --forked ./tests
             "
 

examples/rigid/single_franka_batch_render.py

@@ -15,6 +15,7 @@ def main():
     parser.add_argument("-r", "--render_all_cameras", action="store_true", default=False)
     parser.add_argument("-o", "--output_dir", type=str, default="img_output/test")
     parser.add_argument("-u", "--use_rasterizer", action="store_true", default=False)
+    parser.add_argument("-d", "--debug", action="store_true", default=False)
     args = parser.parse_args()
 
     ########################## init ##########################
@@ -37,6 +38,14 @@ def main():
     )
 
     ########################## cameras ##########################
+    debug_cam = scene.add_camera(
+        res=(720, 1280),
+        pos=(1.5, -0.5, 1.0),
+        lookat=(0.0, 0.0, 0.5),
+        fov=60,
+        GUI=args.vis,
+        debug=True,
+    )
     cam_0 = scene.add_camera(
         res=(512, 512),
         pos=(1.5, 0.5, 1.5),
@@ -75,14 +84,20 @@ def main():
     # Create an image exporter
     exporter = FrameImageExporter(args.output_dir)
 
+    if args.debug:
+        debug_cam.start_recording()
     for i in range(args.n_steps):
         scene.step()
+        if args.debug:
+            debug_cam.render()
         if args.render_all_cameras:
             rgba, depth, _, _ = scene.render_all_cameras(rgb=True, depth=True)
             exporter.export_frame_all_cameras(i, rgb=rgba, depth=depth)
         else:
             rgba, depth, _, _ = cam_1.render(rgb=True, depth=True)
             exporter.export_frame_single_camera(i, cam_1.idx, rgb=rgba, depth=depth)
+    if args.debug:
+        debug_cam.stop_recording("debug_cam.mp4")
 
 
 if __name__ == "__main__":

genesis/__init__.py

@@ -56,6 +56,9 @@ def init(
     if _initialized:
         raise_exception("Genesis already initialized.")
 
+    # Make sure evertything is properly destroyed, just in case initialization failed previously
+    destroy()
+
     # genesis._theme
     global _theme
     is_theme_valid = theme in ("dark", "light", "dumb")

genesis/assets/tests/chopper.glb

@@ -247,7 +247,8 @@ def sample(self):
             self._vfaces = np.array([], dtype=gs.np_float)
         elif isinstance(self._morph, gs.options.morphs.MeshSet):
             for i in range(len(self._morph.files)):
-                pos_i, euler_i = map(np.asarray, (self._morph.poss[i], self._morph.eulers[i]))
+                pos_i = np.asarray(self._morph.poss[i], dtype=gs.np_float)
+                euler_i = np.asarray(self._morph.eulers[i], dtype=gs.np_float)
                 quat_i = gs.utils.geom.xyz_to_quat(euler_i, rpy=True, degrees=True)
                 self._vmesh[i].apply_transform(gu.trans_quat_to_T(pos_i, quat_i))
 
@@ -284,7 +285,8 @@ def sample(self):
             origin = np.mean(self._morph.poss, dtype=gs.np_float)
         else:
             # transform vmesh
-            pos, quat = map(np.asarray, (self._morph.pos, self._morph.quat))
+            pos = np.asarray(self._morph.pos, dtype=gs.np_float)
+            quat = np.asarray(self._morph.quat, dtype=gs.np_float)
             self._vmesh.apply_transform(gu.trans_quat_to_T(pos, quat))
             # transform particles
             particles = gu.transform_by_trans_quat(

genesis/assets/tests/combined_srt.glb

@@ -12,7 +12,8 @@ class ElastoPlastic(Base):
 
     Note
     ----
-    Default yield ratio comes from the SNOW material in taichi's MPM implementation: https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L434
+    Default yield ratio comes from the SNOW material in taichi's MPM implementation:
+    https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L434
 
     Parameters
     ----------

genesis/assets/tests/combined_transform.glb

@@ -13,7 +13,6 @@
 from genesis.options.surfaces import Surface
 import genesis.utils.mesh as mu
 import genesis.utils.gltf as gltf_utils
-import genesis.utils.usda as usda_utils
 import genesis.utils.particle as pu
 from genesis.repr_base import RBC
 
@@ -229,6 +228,7 @@ def from_trimesh(
         """
         if surface is None:
             surface = gs.surfaces.Default()
+            surface.update_texture()
         else:
             surface = surface.copy()
         mesh = mesh.copy(include_cache=True)
@@ -341,22 +341,20 @@ def from_morph_surface(cls, morph, surface=None):
         If the morph is a Mesh morph (morphs.Mesh), it could contain multiple submeshes, so we return a list.
         """
         if isinstance(morph, gs.options.morphs.Mesh):
-            if morph.file.endswith(("obj", "ply", "stl")):
+            if morph.is_format(gs.options.morphs.MESH_FORMATS):
                 meshes = mu.parse_mesh_trimesh(morph.file, morph.group_by_material, morph.scale, surface)
-
-            elif morph.file.endswith(("glb", "gltf")):
+            elif morph.is_format(gs.options.morphs.GLTF_FORMATS):
                 if morph.parse_glb_with_trimesh:
                     meshes = mu.parse_mesh_trimesh(morph.file, morph.group_by_material, morph.scale, surface)
                 else:
                     meshes = gltf_utils.parse_mesh_glb(morph.file, morph.group_by_material, morph.scale, surface)
+            elif morph.is_format(gs.options.morphs.USD_FORMATS):
+                import genesis.utils.usda as usda_utils
 
-            elif morph.file.endswith(("usd", "usda", "usdc", "usdz")):
                 meshes = usda_utils.parse_mesh_usd(morph.file, morph.group_by_material, morph.scale, surface)
-
             elif isinstance(morph, gs.options.morphs.MeshSet):
                 assert all(isinstance(mesh, trimesh.Trimesh) for mesh in morph.files)
                 meshes = [mu.trimesh_to_mesh(mesh, morph.scale, surface) for mesh in morph.files]
-
             else:
                 gs.raise_exception(
                     f"File type not supported (yet). Submit a feature request if you need this: {morph.file}."

genesis/engine/entities/particle_entity.py

@@ -1,5 +1,6 @@
 import os
 import pickle
+import sys
 import time
 
 import numpy as np
@@ -531,8 +532,9 @@ def add_camera(
         focus_dist=None,
         GUI=False,
         spp=256,
-        denoise=True,
+        denoise=None,
         env_idx=None,
+        debug=False,
     ):
         """
         Add a camera to the scene.
@@ -569,16 +571,24 @@ def add_camera(
             Samples per pixel. Only available when using RayTracer renderer. Defaults to 256.
         denoise : bool
             Whether to denoise the camera's rendered image. Only available when using the RayTracer renderer. Defaults
-            to True. If OptiX denoiser is not available in your platform, consider enabling the OIDN denoiser option
-            when building the RayTracer.
+            to True on Linux, otherwise False. If OptiX denoiser is not available in your platform, consider enabling
+            the OIDN denoiser option when building the RayTracer.
+        debug : bool
+            Whether to use the debug camera. It enables to create cameras that can used to monitor / debug the
+            simulation without being part of the "sensors". Their output is rendered by the usual simple Rasterizer
+            systematically, no matter if BatchRender and RayTracer is enabled. This way, it is possible to record the
+            simulation with arbitrary resolution and camera pose, without interfering with what robots can perceive
+            from their environment. Defaults to False.
 
         Returns
         -------
         camera : genesis.Camera
             The created camera object.
         """
+        if denoise is None:
+            denoise = sys.platform != "darwin"
         return self._visualizer.add_camera(
-            res, pos, lookat, up, model, fov, aperture, focus_dist, GUI, spp, denoise, env_idx
+            res, pos, lookat, up, model, fov, aperture, focus_dist, GUI, spp, denoise, env_idx, debug
         )
 
     @gs.assert_unbuilt