Cleanup USD unit tests.

Author: duburcqa

.github/workflows/examples.yml

@@ -28,7 +28,6 @@ jobs:
       TI_ENABLE_VULKAN: "0"
       TI_DEBUG: "0"
       OMNI_KIT_ACCEPT_EULA: "yes"
-      OMNI_KIT_ALLOW_ROOT: "1"
 
     steps:
       - name: Checkout code

.github/workflows/generic.yml

@@ -78,7 +78,6 @@ jobs:
       TI_ENABLE_VULKAN: "0"
       TI_DEBUG: "0"
       OMNI_KIT_ACCEPT_EULA: "yes"
-      OMNI_KIT_ALLOW_ROOT: "1"
 
     runs-on: ${{ matrix.OS }}
     if: github.event_name != 'release'

.github/workflows/production.yml

@@ -25,7 +25,6 @@ env:
   PY_COLORS: 1
   MADRONA_DISABLE_CUDA_HEAP_SIZE: "1"
   OMNI_KIT_ACCEPT_EULA: "yes"
-  OMNI_KIT_ALLOW_ROOT: "1"
 
 jobs:
   unit-tests:
@@ -55,7 +54,7 @@ jobs:
                --container-mounts=${{ github.workspace }}:/root/workspace,${HOME}/.cache/uv:/root/.cache/uv \
                --no-container-mount-home \
                --container-workdir=/root/workspace"
-          SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY},OMNI_KIT_ACCEPT_EULA,OMNI_KIT_ALLOW_ROOT"
+          SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY},OMNI_KIT_ACCEPT_EULA"
 
           JOBID_FIFO="${{ github.workspace }}/.slurm_job_id_fifo"
           [[ -e "$JOBID_FIFO" ]] && rm -f "$JOBID_FIFO"
@@ -132,7 +131,7 @@ jobs:
                --container-mounts=/mnt/data/artifacts:/mnt/data/artifacts,${{ github.workspace }}:/root/workspace,${HOME}/.cache/uv:/root/.cache/uv \
                --no-container-mount-home \
                --container-workdir=/root/workspace"
-          SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY},OMNI_KIT_ACCEPT_EULA,OMNI_KIT_ALLOW_ROOT"
+          SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY},OMNI_KIT_ACCEPT_EULA"
           if [[ "${{ github.repository }}" == 'Genesis-Embodied-AI/Genesis' && "${{ github.ref }}" == 'refs/heads/main' ]] ; then
             SLURM_ENV_VARS="${SLURM_ENV_VARS},WANDB_API_KEY"
           fi

genesis/utils/usd/usd_context.py

@@ -3,6 +3,7 @@
 import os
 import shutil
 import subprocess
+import sys
 from pathlib import Path
 
 import numpy as np
@@ -256,11 +257,11 @@ def find_all_materials(self):
         self.replace_asset_symlinks()
         os.makedirs(self._bake_folder, exist_ok=True)
 
-        # Note that it is necessary to call 'bake_usd_material' via a subprocess to ensure proper isolation of
-        # omninerse kit, otherwise the global conversion registry of some Python bindings will be conflicting between
-        # each, ultimately leading to segfault...
+        # Note that it is necessary to call 'bake_usd_material' as a subprocess to ensure proper isolation of omniverse
+        # kit, otherwise the global conversion registry of some Python bindings will be conflicting with each other,
+        # ultimately leading to segfault...
         commands = [
-            "python",
+            sys.executable,
             os.path.join(os.path.dirname(os.path.abspath(__file__)), "usd_bake.py"),
             "--input_file",
             self._stage_file,
@@ -275,13 +276,11 @@ def find_all_materials(self):
         ]
         gs.logger.debug(f"Execute: {' '.join(commands)}")
 
+        env = dict(os.environ)
+        env["OMNI_KIT_ALLOW_ROOT"] = "1"
+
         try:
-            result = subprocess.run(
-                commands,
-                capture_output=True,
-                check=True,
-                text=True,
-            )
+            result = subprocess.run(commands, capture_output=True, check=True, text=True, env=env)
             if result.stdout:
                 gs.logger.debug(result.stdout)
             if result.stderr:

genesis/utils/usd/usd_rigid_entity.py

@@ -427,12 +427,18 @@ def parse_usd_rigid_entity(morph: gs.morphs.USD, surface: gs.surfaces.Surface):
     stage: Usd.Stage = context.stage
 
     if morph.prim_path is None:
-        gs.logger.info("USD morph has no prim path. Fallback to its default prim path.")
+        gs.logger.debug("USD morph has no prim path. Fallback to its default prim path.")
         entity_prim = stage.GetDefaultPrim()
     else:
         entity_prim = stage.GetPrimAtPath(morph.prim_path)
     if not entity_prim.IsValid():
-        gs.raise_exception(f"Invalid prim path {morph.prim_path} in USD file {morph.file}.")
+        if morph.prim_path is None:
+            err_msg = (
+                f"Invalid default prim path {entity_prim} in USD file {morph.file}. Please specify 'morph.prim_path'."
+            )
+        else:
+            err_msg = f"Invalid user-specified prim path {entity_prim} in USD file {morph.file}."
+        gs.raise_exception(err_msg)
 
     # find joints
     links, link_joints, link_path_to_idx = _parse_articulation_structure(stage, entity_prim)

pyproject.toml

@@ -72,8 +72,9 @@ dev = [
     "pytest-forked",
     "pytest-random-order",
     "pytest-print",
+    # Note that 'pytest-rerunfailures' is incompatible with 'pytest-forked'
     # - 16.0 is causing pytest-xdist to crash in case of failure or skipped tests
-    "pytest-rerunfailures!=16.0",
+    # "pytest-rerunfailures!=16.0",
     "setproctitle", # allows renaming the test processes on the cluster
     "syrupy",
     "huggingface_hub[hf_xet]",

tests/test_usd.py

@@ -6,6 +6,7 @@
 """
 
 import os
+import time
 
 import xml.etree.ElementTree as ET
 import numpy as np
@@ -177,8 +178,8 @@ def compare_geoms(compared_geoms, usd_geoms, tol):
     assert len(compared_geoms) == len(usd_geoms)
 
     # Sort geoms by link name for consistent comparison
-    compared_geoms_sorted = sorted(compared_geoms, key=lambda g: (g.link.name, g._idx))
-    usd_geoms_sorted = sorted(usd_geoms, key=lambda g: (g.link.name, g._idx))
+    compared_geoms_sorted = sorted(compared_geoms, key=lambda g: (g.link.name, g.idx))
+    usd_geoms_sorted = sorted(usd_geoms, key=lambda g: (g.link.name, g.idx))
 
     for compared_geom, usd_geom in zip(compared_geoms_sorted, usd_geoms_sorted):
         assert compared_geom.type == usd_geom.type
@@ -266,9 +267,20 @@ def build_mjcf_scene(xml_path: str, scale: float):
     """
     # Create MJCF scene
     mjcf_scene = gs.Scene()
-    mjcf_morph = gs.morphs.MJCF(file=xml_path, scale=scale)
-    mjcf_scene.add_entity(mjcf_morph, material=gs.materials.Rigid(rho=1000.0))
+
+    mjcf_scene.add_entity(
+        gs.morphs.MJCF(
+            file=xml_path,
+            scale=scale,
+            convexify=False,
+        ),
+        material=gs.materials.Rigid(
+            rho=1000.0,
+        ),
+    )
+
     mjcf_scene.build()
+
     return mjcf_scene
 
 
@@ -300,18 +312,34 @@ def build_usd_scene(
         The USD scene
     """
     # Create USD scene
-    usd_scene = gs.Scene()
-    usd_morph = gs.morphs.USD(
-        usd_ctx=UsdContext(usd_file, use_bake_cache=False),
-        scale=scale,
-        fixed=fixed,
+    scene = gs.Scene()
+
+    kwargs = dict(
+        morph=gs.morphs.USD(
+            usd_ctx=UsdContext(
+                usd_file,
+                use_bake_cache=False,
+            ),
+            scale=scale,
+            fixed=fixed,
+            convexify=False,
+        ),
+        material=gs.materials.Rigid(
+            rho=1000.0,
+        ),
+        vis_mode=vis_mode,
     )
+
     if is_stage:
-        usd_scene.add_stage(usd_morph, vis_mode=vis_mode, material=gs.materials.Rigid(rho=1000.0))
+        scene.add_stage(**kwargs)
     else:
-        usd_scene.add_entity(usd_morph, vis_mode=vis_mode, material=gs.materials.Rigid(rho=1000.0))
-    usd_scene.build()
-    return usd_scene
+        scene.add_entity(**kwargs)
+
+    # Note that it is necessary to build the scene because spatial inertia of some geometries may not be specified.
+    # In such a case, it will be estimated from the geometry during build (RigidLink._build to be specific).
+    scene.build()
+
+    return scene
 
 
 def build_mesh_scene(mesh_file: str, scale: float):
@@ -438,6 +466,7 @@ def box_plane_usd(asset_tmp_path, box_plane_mjcf: ET.ElementTree):
     rigid_body_api.GetKinematicEnabledAttr().Set(False)
 
     stage.Save()
+
     return usd_file
 
 
@@ -864,6 +893,7 @@ def spherical_joint_usd(asset_tmp_path, spherical_joint_mjcf: ET.ElementTree):
     joint_prim.CreateLocalPos1Attr().Set(Gf.Vec3f(0.0, 0.0, 0.0))
 
     stage.Save()
+
     return usd_file
 
 
@@ -883,10 +913,14 @@ def test_spherical_joint_mjcf_vs_usd(xml_path, spherical_joint_usd, scale, tol):
 @pytest.mark.parametrize("model_name", ["usd/sneaker_airforce", "usd/RoughnessTest"])
 @pytest.mark.skipif(not HAS_USD_SUPPORT, reason="USD support not available")
 def test_usd_visual_parse(model_name, tol):
-    glb_file = os.path.join(get_hf_dataset(pattern=f"{model_name}.glb"), f"{model_name}.glb")
-    usd_file = os.path.join(get_hf_dataset(pattern=f"{model_name}.usdz"), f"{model_name}.usdz")
+    glb_asset_path = get_hf_dataset(pattern=f"{model_name}.glb")
+    glb_file = os.path.join(glb_asset_path, f"{model_name}.glb")
+    usd_asset_path = get_hf_dataset(pattern=f"{model_name}.usdz")
+    usd_file = os.path.join(usd_asset_path, f"{model_name}.usdz")
+
     mesh_scene = build_mesh_scene(glb_file, scale=1.0)
     usd_scene = build_usd_scene(usd_file, scale=1.0, vis_mode="visual", is_stage=False)
+
     compare_mesh_scene(mesh_scene, usd_scene, tol=tol)
 
 
@@ -897,7 +931,9 @@ def test_usd_visual_parse(model_name, tol):
 def test_usd_parse_nodegraph(usd_file):
     asset_path = get_hf_dataset(pattern=usd_file)
     usd_file = os.path.join(asset_path, usd_file)
+
     usd_scene = build_usd_scene(usd_file, scale=1.0, vis_mode="visual", is_stage=False)
+
     texture0 = usd_scene.entities[0].vgeoms[0].vmesh.surface.diffuse_texture
     texture1 = usd_scene.entities[0].vgeoms[1].vmesh.surface.diffuse_texture
     assert isinstance(texture0, gs.textures.ColorTexture)
@@ -914,15 +950,33 @@ def test_usd_parse_nodegraph(usd_file):
 @pytest.mark.parametrize("backend", [gs.cuda])
 @pytest.mark.skipif(not HAS_USD_SUPPORT, reason="USD support not available")
 @pytest.mark.skipif(not HAS_OMNIVERSE_KIT_SUPPORT, reason="omniverse-kit support not available")
-def test_usd_bake(usd_file):
-    asset_path = get_hf_dataset(pattern=os.path.join(os.path.dirname(usd_file), "*"), local_dir_use_symlinks=False)
+def test_usd_bake(usd_file, tmp_path):
+    RETRY_NUM = 3 if "PYTEST_XDIST_WORKER" in os.environ else 0
+    RETRY_DELAY = 30.0
+
+    asset_path = get_hf_dataset(pattern=os.path.join(os.path.dirname(usd_file), "*"), local_dir=tmp_path)
     usd_file = os.path.join(asset_path, usd_file)
-    usd_scene = build_usd_scene(usd_file, scale=1.0, vis_mode="visual", is_stage=False, fixed=True)
-
-    success_count = 0
-    for vgeom in usd_scene.entities[0].vgeoms:
-        vmesh = vgeom.vmesh
-        bake_success = vmesh.metadata["bake_success"]
-        assert bake_success is None or bake_success
-        success_count += 1 if bake_success else 0
-    assert success_count > 0
+
+    # Note that bootstrapping omni-kit by multiple workers concurrently is causing failure.
+    # There is no easy way to get around this limitation except retrying after some delay...
+    retry_idx = 0
+    while True:
+        usd_scene = build_usd_scene(usd_file, scale=1.0, vis_mode="visual", is_stage=False, fixed=True)
+
+        is_any_baked = False
+        for vgeom in usd_scene.entities[0].vgeoms:
+            vmesh = vgeom.vmesh
+            bake_success = vmesh.metadata["bake_success"]
+            try:
+                assert bake_success is None or bake_success
+            except AssertionError:
+                if retry_idx < RETRY_NUM:
+                    usd_scene.destroy()
+                    print(f"Failed to bake usd. Trying again in {RETRY_DELAY}s...")
+                    time.sleep(RETRY_DELAY)
+                    break
+                raise
+            is_any_baked |= bake_success
+        else:
+            assert is_any_baked
+            break

tests/utils.py

@@ -186,7 +186,6 @@ def get_hf_dataset(
     local_dir: str | None = None,
     num_retry: int = 4,
     retry_delay: float = 30.0,
-    local_dir_use_symlinks: bool = True,
 ):
     assert num_retry >= 1
 
@@ -207,7 +206,6 @@ def get_hf_dataset(
                 allow_patterns=pattern,
                 max_workers=1,
                 local_dir=local_dir,
-                local_dir_use_symlinks=local_dir_use_symlinks,
             )
 
             # Make sure that download was successful