Merge branch 'main' into yunlong/batchrender_example_mani

Author: yun-long

.github/pull_request_template.md

@@ -9,6 +9,7 @@
     - [BUG FIX] for non-breaking changes which fix an issue
     - [FEATURE] for non-breaking changes which add functionality
     - [MISC] for minor changes such as improved inline documentation or fixing typos
+    - [CHANGING] for changes that will change simulation's behaviour
     - [BREAKING] **in addition to the above** for breaking changes, i.e., a fix or feature that would cause existing APIs or functionality to change
 -->
 

.github/workflows/generic.yml

@@ -27,6 +27,8 @@ jobs:
 
     env:
       HF_HUB_DOWNLOAD_TIMEOUT: 60
+      FORCE_COLOR: 1
+      PY_COLORS: 1
       GS_CACHE_FILE_PATH: ".cache/genesis"
       TI_OFFLINE_CACHE: "1"
       TI_OFFLINE_CACHE_CLEANING_POLICY: "never"
@@ -81,28 +83,19 @@ jobs:
           7z x mesa.7z -omesa
           mv -v mesa/x64/* /C/Windows/System32/
 
-      - name: Install system dependencies (Linux)
+      - name: Install Mesa 25 OpenGL driver (Linux)
         if: startsWith(matrix.OS, 'ubuntu-')
         run: |
+          sudo add-apt-repository -y ppa:kisak/kisak-mesa
           sudo apt-get update
           sudo apt install -y \
-              libgl1 \
-              libegl1 \
-              libglvnd-dev \
-              libglew-dev \
-              libegl-dev \
-              libx11-6  \
-              libxrender1 \
-              libglib2.0-0 \
-              libosmesa6-dev \
-              libglx-mesa0 \
               libglu1-mesa \
-              libegl1-mesa-dev \
-              libgles2-mesa-dev
+              libegl-mesa0 \
+              libgl1-mesa-dev
       - name: Install python dependencies
         run: |
           pip install --upgrade pip setuptools pkg-info wheel
-          pip install torch
+          pip3 install torch --index-url https://download.pytorch.org/whl/cpu
 
       - name: Black Format Check
         if: matrix.OS == 'ubuntu-22.04' && matrix.PYTHON_VERSION == '3.12'

.github/workflows/production.yml

@@ -24,6 +24,8 @@ jobs:
       HF_HUB_DOWNLOAD_TIMEOUT: 60
       GENESIS_IMAGE_VER: "1_1"
       TIMEOUT_MINUTES: 180
+      FORCE_COLOR: 1
+      PY_COLORS: 1
       MADRONA_DISABLE_CUDA_HEAP_SIZE: "1"
       OMNI_KIT_ACCEPT_EULA: "yes"
       OMNI_KIT_ALLOW_ROOT: "1"

.readthedocs.yaml

@@ -0,0 +1,18 @@
+version: 2
+
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.12"
+
+submodules:
+  include:
+    - doc
+  recursive: true
+
+sphinx:
+  configuration: doc/source/conf.py
+
+python:
+  install:
+    - requirements: doc/requirements.txt

README.md

@@ -18,7 +18,6 @@
 # Genesis
 
 ## 🔥 News
-- [2025-08-16] Released v0.3.1
 - [2025-08-05] Released v0.3.0 🎊 🎉
 - [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.

RELEASE.md

@@ -1,5 +1,50 @@
 # Genesis Release Note
 
+## 0.3.3
+
+This minor release fixes a few non-blocking rendering issues for the Rasterizer backend.
+
+### Bug Fixes
+
+* [BUG FIX] Fix shadow map not properly rendered for objects far away from floor plane. (@duburcqa) (#1664)
+* [BUG FIX] Fix genesis import failure if tkinter is failing at init on MacOS. (@duburcqa) (#1666)
+* [BUG FIX] Fix default visualization mode for emitter surface. (@duburcqa) (#1665)
+
+### Miscellaneous
+
+* [MISC] Expose parameters for ground plane tiling. (@yuhongyi) (#1657)
+* [MISC] Add support of 'ti.ndarray' to 'ti_field_to_torch' and rename in 'ti_to_torch'. (@duburcqa) (#1661)
+
+## 0.3.2
+
+This minor release fixes a few additional regressions and initiates migration to our own open-source fork of Taichi, [GsTaichi](https://github.com/Genesis-Embodied-AI/gstaichi) (contributions are welcome!).
+
+### Behavior Changing
+
+* Disable decimation if deemed unnecessary and unreliable. Reduce default aggressiveness. (@duburcqa) (#1644)
+* Fix primitive and mesh's COM. (@YilingQiao) (#1638)
+
+### New Features
+
+* Add 'set_dofs_frictionloss' method for dynamic joint friction control. (@LeonLiu4) (#1614)
+* Add initial experimental support of gstaichi fast cache feature. (@hughperkins) (#1631)
+* Add 'ref' optional argument to 'get_links_pos'. (@YilingQiao) (#1638)
+
+### Bug Fixes
+
+* Fix Inverse Kinematics algorithm. (@Kashu7100, @duburcqa) (#1582, #1586)
+* Fix save frame as png image in interactive viewer. (@Kashu7100) (#1606)
+* Filter out collision pairs involved in weld equality constraints. (@duburcqa) (#1621)
+* Fix viewer backend fallback when running in main thread. (@duburcqa) (#1630)
+* Fix 'quat_to_xyz' singularity edge-case. (@duburcqa) (#1628)
+* Fix CUDA runtime being initialized by 'get_device'. (@duburcqa) (#1634)
+
+### Miscellaneous
+
+* Re-enable world-frame in the 'gs view' standalone viewer. (@Kashu7100) (#1584)
+* Migrate from 'taichi' to 'gstaichi'. (@duburcqa, @hughperkins) (#1550, #1618, #1645)
+* Update documentation so the doc will be compiled based on the latest main. (@YilingQiao) (#1616)
+
 ## 0.3.1
 
 This small release addresses the most pressing regressions that has been pointed out by the community since 0.3.0. Support of coupling between Rigid Body and FEM has been improved and should be more reliable, though it is still considered experimental for now. Apart from that, no behavior changes are to be expected.
@@ -128,7 +173,7 @@ This release focuses primarily on stability, covering everything from MJCF/URDF
 
 * Update Drone Entity and Training Performance Enhancements. (@KafuuChikai) (#598)
 * Added PID controller util, quadcopter PID controller, flight examples. (@jebbrysacz) (#501)
-* Add support of Numpy 2.0. (@johnnynunez, @duburcqa) (#711, #791) 
+* Add support of Numpy 2.0. (@johnnynunez, @duburcqa) (#711, #791)
 * Setup unit test infrastructure. (@duburcqa) (#876)
 * Various minor improvements. (@duburcqa) (#889)
 * Get rid of internally maintained trimesh dependency. (@duburcqa) (#918)

doc

@@ -7,6 +7,8 @@
 
 def main():
     parser = argparse.ArgumentParser()
+    parser.add_argument("--solver", type=str, default="sph", choices=("sph", "mpm"))
+    parser.add_argument("--recon", action="store_true", default=False)
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     args = parser.parse_args()
 
@@ -20,8 +22,14 @@ def main():
             substeps=10,
         ),
         mpm_options=gs.options.MPMOptions(
-            lower_bound=(0.0, 0.0, 0.0),
-            upper_bound=(1.0, 1.0, 1.5),
+            lower_bound=(0.0, -1.5, 0.0),
+            upper_bound=(1.0, 1.5, 4.0),
+        ),
+        sph_options=gs.options.SPHOptions(
+            particle_size=0.02,
+        ),
+        pbd_options=gs.options.PBDOptions(
+            particle_size=0.02,
         ),
         viewer_options=gs.options.ViewerOptions(
             camera_pos=(5.5, 6.5, 3.2),
@@ -33,13 +41,10 @@ def main():
             rendered_envs_idx=[0],
         ),
         show_viewer=args.vis,
-        sph_options=gs.options.SPHOptions(
-            particle_size=0.02,
-        ),
     )
 
     plane = scene.add_entity(gs.morphs.Plane())
-    wheel_0 = scene.add_entity(
+    wheel = scene.add_entity(
         morph=gs.morphs.URDF(
             file="urdf/wheel/fancy_wheel.urdf",
             pos=(0.5, 0.25, 1.6),
@@ -50,17 +55,19 @@ def main():
     )
 
     emitter = scene.add_emitter(
-        material=gs.materials.SPH.Liquid(sampler="regular"),
+        material=getattr(gs.materials, args.solver.upper()).Liquid(
+            sampler="regular",
+        ),
         max_particles=100000,
         surface=gs.surfaces.Glass(
             color=(0.7, 0.85, 1.0, 0.7),
+            vis_mode="recon" if args.recon else "particle",
         ),
     )
-    scene.build(n_envs=5)
+    scene.build(n_envs=2)
 
     horizon = 500
     for i in range(horizon):
-        print(i)
         emitter.emit(
             pos=np.array([0.5, 1.0, 3.5]),
             direction=np.array([0.0, 0, -1.0]),

examples/coupling/water_wheel.py

@@ -17,24 +17,29 @@ def main():
         sim_options=gs.options.SimOptions(
             dt=2e-3,
         ),
-        viewer_options=gs.options.ViewerOptions(
-            camera_pos=(3.5, 1.0, 2.5),
-            camera_lookat=(0.0, 0.0, 0.5),
-            camera_fov=40,
-        ),
-        show_viewer=False,
         pbd_options=gs.options.PBDOptions(
             lower_bound=(0.0, 0.0, 0.0),
             upper_bound=(1.0, 1.0, 1.0),
             max_density_solver_iterations=10,
             max_viscosity_solver_iterations=1,
         ),
+        viewer_options=gs.options.ViewerOptions(
+            camera_pos=(3.5, 1.0, 2.5),
+            camera_lookat=(0.0, 0.0, 0.5),
+            camera_fov=40,
+        ),
+        show_viewer=args.vis,
     )
 
     ########################## entities ##########################
 
     liquid = scene.add_entity(
-        material=gs.materials.PBD.Liquid(rho=1.0, density_relaxation=1.0, viscosity_relaxation=0.0, sampler="regular"),
+        material=gs.materials.PBD.Liquid(
+            sampler="regular",
+            rho=1.0,
+            density_relaxation=1.0,
+            viscosity_relaxation=0.0,
+        ),
         morph=gs.morphs.Box(lower=(0.2, 0.1, 0.1), upper=(0.4, 0.3, 0.5)),
     )
     scene.build(n_envs=5)

examples/pbd_liquid.py

@@ -7,6 +7,7 @@
 import traceback
 from platform import system
 from contextlib import redirect_stdout
+from typing import Callable, TypeVar, ParamSpec
 
 # Import gstaichi while collecting its output without printing directly
 _ti_outputs = io.StringIO()
@@ -41,6 +42,20 @@
 global_scene_list = set()
 
 
+_P = ParamSpec("P")
+_R = TypeVar("R")
+
+
+def _noop(fn: Callable[_P, _R]) -> Callable[_P, _R]:
+    return fn
+
+
+if os.environ.get("GS_BETA_PURE") == "1":
+    maybe_pure: Callable[[Callable[_P, _R]], Callable[_P, _R]] = ti.pure
+else:
+    maybe_pure = _noop
+
+
 ########################## init ##########################
 def init(
     seed=None,
@@ -198,6 +213,9 @@ def init(
             "increasing compilation time is not a concern."
         )
 
+    if os.environ.get("GS_BETA_PURE") == "1":
+        logger.info("Enabling pure kernels for fast cache loading.")
+
     if seed is not None:
         global SEED
         SEED = seed
@@ -231,9 +249,8 @@ def init(
         )
 
     # Make sure that gstaichi arch is matching requirement
-    ti_runtime = ti.lang.impl.get_runtime()
-    ti_arch = ti_runtime.prog.config().arch
-    if backend != gs.cpu and ti_arch in (ti._lib.core.Arch.arm64, ti._lib.core.Arch.x64):
+    ti_config = ti.lang.impl.current_cfg()
+    if backend != gs.cpu and ti_config.arch in (ti._lib.core.Arch.arm64, ti._lib.core.Arch.x64):
         device, device_name, total_mem, backend = get_device(gs.cpu)
 
     _globalize_backend(backend)
@@ -276,7 +293,7 @@ def destroy():
     _initialized = False
 
     # Unregister at-exit callback that is not longer relevant.
-    # This is important when `init` / `destory` is called multiple times, which is typically the case for unit tests.
+    # This is important when `init` / `destroy` is called multiple times, which is typically the case for unit tests.
     atexit.unregister(destroy)
 
     # Display any buffered error message if logger is configured
@@ -292,9 +309,8 @@ def destroy():
     # Destroy all scenes
     global global_scene_list
     for scene in global_scene_list:
-        if scene._visualizer is not None:
-            scene._visualizer.destroy()
-        del scene
+        if scene.visualizer is not None:
+            scene.visualizer.destroy()
     global_scene_list.clear()
 
     # Reset gstaichi