Enable taichi debug mode if possible.

Author: duburcqa

genesis/__init__.py

@@ -211,8 +211,8 @@ def init(
     with redirect_stdout(_ti_outputs):
         ti.init(
             arch=ti_arch,
-            # debug is causing segfault on some machines
-            debug=False,
+            # Debug mode was buggy and causing segfault prior to v1.7.4
+            debug=debug and ti.__version__ >= (1, 7, 4),
             check_out_of_bound=debug,
             # force_scalarize_matrix=True for speeding up kernel compilation
             # Turning off 'force_scalarize_matrix' is causing numerical instabilities ('nan') on MacOS

genesis/engine/solvers/rigid/rigid_solver_decomp.py

@@ -5226,11 +5226,11 @@ def func_torque_and_passive_force(
                 joint_type = joints_info.type[I_j]
 
                 if joint_type != gs.JOINT_TYPE.FREE and joint_type != gs.JOINT_TYPE.FIXED:
-                    dof_start = links_info.dof_start[I_l]
                     q_start = links_info.q_start[I_l]
-                    q_end = links_info.q_end[I_l]
+                    dof_start = links_info.dof_start[I_l]
+                    dof_end = links_info.dof_end[I_l]
 
-                    for j_d in range(q_end - q_start):
+                    for j_d in range(dof_end - dof_start):
                         I_d = (
                             [dof_start + j_d, i_b]
                             if ti.static(static_rigid_sim_config.batch_dofs_info)
@@ -5256,11 +5256,11 @@ def func_torque_and_passive_force(
             joint_type = joints_info.type[I_j]
 
             if joint_type != gs.JOINT_TYPE.FREE and joint_type != gs.JOINT_TYPE.FIXED:
-                dof_start = links_info.dof_start[I_l]
                 q_start = links_info.q_start[I_l]
-                q_end = links_info.q_end[I_l]
+                dof_start = links_info.dof_start[I_l]
+                dof_end = links_info.dof_end[I_l]
 
-                for j_d in range(q_end - q_start):
+                for j_d in range(dof_end - dof_start):
                     I_d = (
                         [dof_start + j_d, i_b]
                         if ti.static(static_rigid_sim_config.batch_dofs_info)

tests/conftest.py

@@ -280,6 +280,7 @@ def initialize_genesis(request, backend, taichi_offline_cache):
         precision = "64"
         debug = True
     else:
+        # Disabling debug mode on GPU because we are likely needing maximum performance, notably for benchmarks
         precision = "32"
         debug = False