Fixed the crashin self._rasterizer.render_camera(camera)

Author: yuhongyi

genesis/utils/geom.py

@@ -1235,7 +1235,7 @@ def pos_lookat_up_to_T(pos, lookat, up, *, dtype=np.float32):
             z = pos - lookat
         R = z_up_to_R(z, up=up)
         return trans_R_to_T(pos, R)
-    elif all(isinstance(e, np.ndarray) for e in (pos, lookat, up) if e is not None):
+    elif all(isinstance(e, tuple) for e in (pos, lookat, up) if e is not None):
         pos = np.asarray(pos, dtype=dtype)
         lookat = np.asarray(lookat, dtype=dtype)
         up = np.asarray(up, dtype=dtype)

genesis/vis/camera.py

@@ -113,22 +113,18 @@ def __init__(
             self._focus_dist = np.linalg.norm(np.array(lookat) - np.array(pos))
 
     def build(self):
-        if self._visualizer._use_batch_renderer:
-            self._batch_renderer = self._visualizer.batch_renderer
-            self._rasterizer = None
-            self._raytracer = None
-        else:
-            self._rasterizer = self._visualizer.rasterizer
-            self._raytracer = self._visualizer.raytracer
+        self._batch_renderer = self._visualizer.batch_renderer
+        self._rasterizer = self._visualizer.rasterizer
+        self._raytracer = self._visualizer.raytracer
 
-            self._rgb_stacked = self._visualizer._context.env_separate_rigid
-            self._other_stacked = self._visualizer._context.env_separate_rigid
+        self._rgb_stacked = self._visualizer._context.env_separate_rigid
+        self._other_stacked = self._visualizer._context.env_separate_rigid
 
-            if self._rasterizer is not None:
-                self._rasterizer.add_camera(self)
-            if self._raytracer is not None:
-                self._raytracer.add_camera(self)
-                self._rgb_stacked = False  # TODO: Raytracer currently does not support batch rendering
+        if self._rasterizer is not None:
+            self._rasterizer.add_camera(self)
+        if self._raytracer is not None:
+            self._raytracer.add_camera(self)
+            self._rgb_stacked = False  # TODO: Raytracer currently does not support batch rendering
 
         self._is_built = True
         self.setup_initial_env_poses()

genesis/vis/visualizer.py

@@ -151,7 +151,7 @@ def reset(self):
 
         # Ideally the code below should be skipped when viewer_lock is a DummyViewerLock.
         # Temporary workaround: Skip when using batch renderer.
-        if self.viewer_lock is not None and not self._use_batch_renderer:
+        if self.viewer_lock is not None:
             for camera in self._cameras:
                 self._rasterizer.render_camera(camera)