addressed review comments

Author: abhijitmajumdar

genesis/vis/camera.py

@@ -8,6 +8,7 @@
 import genesis as gs
 import genesis.utils.geom as gu
 from genesis.repr_base import RBC
+from genesis.utils.misc import tensor_to_array
 
 
 class Camera(RBC):
@@ -138,7 +139,8 @@ def attach(self, rigid_link, offset_T, env_idx: int | None = None):
         offset_T : np.ndarray, shape (4, 4)
             The transformation matrix specifying the camera's pose relative to the rigid link.
         env_idx : int
-            The environment index this camera should be tied to. Offsets the `offset_T` accordingly. Must be specified if running parallel environments
+            The environment index this camera should be tied to. Offsets the `offset_T` accordingly. Must be specified
+            if running parallel environments
 
         Raises
         ------
@@ -182,8 +184,8 @@ def move_to_attach(self):
         if self._attached_link is None:
             gs.raise_exception(f"The camera hasn't been mounted!")
 
-        link_pos = self._attached_link.get_pos(envs_idx=self._attached_env_idx).cpu().numpy()
-        link_quat = self._attached_link.get_quat(envs_idx=self._attached_env_idx).cpu().numpy()
+        link_pos = tensor_to_array(self._attached_link.get_pos(envs_idx=self._attached_env_idx))
+        link_quat = tensor_to_array(self._attached_link.get_quat(envs_idx=self._attached_env_idx))
         if self._attached_env_idx is not None:
             link_pos = link_pos[0] + self._visualizer._scene.envs_offset[self._attached_env_idx]
             link_quat = link_quat[0]

tests/test_rigid_physics.py

@@ -1060,7 +1060,7 @@ def test_batched_mounted_camera_rendering(show_viewer, tol):
         morph=gs.morphs.Mesh(
             file="meshes/sphere.obj",
             scale=0.1,
-            pos=(-0.2, -0.8, 0.2),
+            pos=(-0.2, -0.5, 0.2),
             fixed=True,
         ),
         surface=gs.surfaces.Rough(
@@ -1069,93 +1069,6 @@ def test_batched_mounted_camera_rendering(show_viewer, tol):
             ),
         ),
     )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/sphere.obj",
-            scale=0.1,
-            pos=(-0.2, -0.5, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Rough(
-            color=(1.0, 1.0, 1.0),
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/sphere.obj",
-            scale=0.1,
-            pos=(-0.2, -0.2, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Smooth(
-            color=(0.6, 0.8, 1.0),
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/sphere.obj",
-            scale=0.1,
-            pos=(-0.2, 0.2, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Iron(
-            color=(1.0, 1.0, 1.0),
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/sphere.obj",
-            scale=0.1,
-            pos=(-0.2, 0.5, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Gold(
-            color=(1.0, 1.0, 1.0),
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/sphere.obj",
-            scale=0.1,
-            pos=(-0.2, 0.8, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Glass(
-            color=(1.0, 1.0, 1.0),
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/sphere.obj",
-            scale=0.1,
-            pos=(0.2, -0.8, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Smooth(
-            color=(1.0, 1.0, 1.0, 0.5),
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/wooden_sphere_OBJ/wooden_sphere.obj",
-            scale=0.025,
-            pos=(0.2, -0.5, 0.2),
-            fixed=True,
-        ),
-    )
-    scene.add_entity(
-        morph=gs.morphs.Mesh(
-            file="meshes/wooden_sphere_OBJ/wooden_sphere.obj",
-            scale=0.025,
-            pos=(0.2, -0.2, 0.2),
-            fixed=True,
-        ),
-        surface=gs.surfaces.Rough(
-            diffuse_texture=gs.textures.ImageTexture(
-                image_path="textures/checker.png",
-            )
-        ),
-    )
     robot = scene.add_entity(
         gs.morphs.MJCF(file="xml/franka_emika_panda/panda.xml"),
     )
@@ -1208,7 +1121,7 @@ def test_batched_mounted_camera_rendering(show_viewer, tol):
         steps_rgb_queue.put(robots_rgb_arrays)
 
         if steps_rgb_queue.full():  # we have a set of 2 consecutive frames
-            diff_tol = 0.05  # expect atlest 5% difference between each frame
+            diff_tol = 0.02  # expect atlest 2% difference between each frame
             frames_t_minus_1 = steps_rgb_queue.get()
             frames_t = steps_rgb_queue.get()
             for i in range(n_envs):