add fixes

Author: Milotrince

.github/workflows/examples.yml

@@ -54,6 +54,7 @@ jobs:
         run: |
           python -m pip install --upgrade pip setuptools wheel
           pip install torch --index-url https://download.pytorch.org/whl/cpu
+          pip install -e '.[dev,usd]'
 
       - name: Get gstaichi version
         id: gstaichi_version

examples/IPC_Solver/ipc_arm_cloth.py

@@ -139,7 +139,7 @@ def build_scene(use_ipc=False, show_viewer=False, enable_ipc_gui=False):
     return scene, entities
 
 
-def run_sim(scene, entities, mode="interactive", trajectory_file=None):
+def run_sim(scene, entities, add_keybinds, mode="interactive", trajectory_file=None):
     robot = entities["robot"]
     target_entity = entities["target"]
     is_running = True
@@ -175,8 +175,8 @@ def reset_scene():
         # entities["cube"].set_pos((random.uniform(0.2, 0.4), random.uniform(-0.2, 0.2), 0.05))
         # entities["cube"].set_quat(R.from_euler("z", random.uniform(0, np.pi * 2)).as_quat(scalar_first=True))
 
-    # Register keybindings (only for interactive and record modes)
-    if mode in ["interactive", "record"]:
+    # Register keybindings
+    if add_keybinds:
 
         def move(dpos_delta: tuple[float, float, float]):
             target_pos[:] += np.array(dpos_delta, dtype=gs.np_float)
@@ -408,7 +408,13 @@ def main():
             trajectory_file = os.path.join(traj_dir, os.path.basename(trajectory_file))
 
     scene, entities = build_scene(use_ipc=args.ipc, show_viewer=args.vis, enable_ipc_gui=False)
-    run_sim(scene, entities, mode=args.mode, trajectory_file=trajectory_file)
+    run_sim(
+        scene,
+        entities,
+        add_keybinds=args.vis or args.mode in ["interactive", "record"],
+        mode=args.mode,
+        trajectory_file=trajectory_file,
+    )
 
 
 if __name__ == "__main__":

tests/test_viewer.py

@@ -14,6 +14,20 @@
 CAM_RES = (480, 320)
 
 
+def wait_for_viewer_events(viewer, condition_fn, timeout=2.0, sleep_interval=0.1):
+    """Utility function to wait for viewer events to be processed in a threaded viewer."""
+    if not viewer.run_in_thread:
+        viewer.dispatch_pending_events()
+        viewer.dispatch_events()
+
+    for _ in range(int(timeout / sleep_interval)):
+        if condition_fn():
+            return
+        time.sleep(sleep_interval)
+    else:
+        raise AssertionError("Keyboard event not processed before timeout")
+
+
 @pytest.mark.required
 @pytest.mark.skipif(not IS_INTERACTIVE_VIEWER_AVAILABLE, reason="Interactive viewer not supported on this platform.")
 @pytest.mark.xfail(sys.platform == "win32", raises=OpenGL.error.Error, reason="Invalid OpenGL context.")
@@ -79,9 +93,6 @@ def test_default_viewer_plugin():
 
     assert len(pyrender_viewer._keybindings) > 0, "Expected default keybindings to be registered."
 
-    # Press key toggle world frame
-    pyrender_viewer.dispatch_event("on_key_press", Key.W, 0)
-
     # Add a custom keybind
     flags = [False, False, False]
 
@@ -109,20 +120,14 @@ def toggle_flag(idx):
     pyrender_viewer.dispatch_event("on_key_press", Key._0, 0)
     # Press key with modifiers to toggle flag off
     pyrender_viewer.dispatch_event("on_key_press", Key._1, KeyMod.SHIFT | KeyMod.CTRL)
+    # Press key toggle world frame
+    pyrender_viewer.dispatch_event("on_key_press", Key.W, 0)
 
-    if pyrender_viewer.run_in_thread:
-        for i in range(100):
-            if flags[0] and flags[1]:
-                break
-            time.sleep(0.1)
-    else:
-        pyrender_viewer.dispatch_pending_events()
-        pyrender_viewer.dispatch_events()
-
-    assert pyrender_viewer.gs_context.world_frame_shown, "Expected world frame to be shown after pressing 'W' key."
+    wait_for_viewer_events(pyrender_viewer, lambda: flags[0] and flags[1])
 
     assert flags[0], "Expected custom keybind callback to toggle flag on."
     assert flags[1], "Expected custom keybind with key modifiers to toggle flag on."
+    assert pyrender_viewer.gs_context.world_frame_shown, "Expected world frame to be shown after pressing 'W' key."
 
     # Remove the keybind and press key to verify it no longer works
     scene.viewer.remove_keybind("toggle_flag_0")
@@ -131,14 +136,7 @@ def toggle_flag(idx):
     scene.viewer.remap_keybind("toggle_flag_1", new_key=Key._2, new_key_mods=None)
     pyrender_viewer.dispatch_event("on_key_press", Key._2, 0)
 
-    if pyrender_viewer.run_in_thread:
-        for i in range(1000):
-            if not flags[1]:
-                break
-            time.sleep(0.1)
-    else:
-        pyrender_viewer.dispatch_pending_events()
-        pyrender_viewer.dispatch_events()
+    wait_for_viewer_events(pyrender_viewer, lambda: not flags[1])
 
     assert flags[0], "Keybind was not removed properly."
     assert not flags[1], "Expected rebinded keybind to toggle flag off."