WIP

Author: duburcqa

.github/workflows/generic.yml

@@ -16,7 +16,7 @@ jobs:
       matrix:
         # See official Github documentation for details: https://shorturl.at/NJgsj
         OS: ["ubuntu-22.04", "ubuntu-24.04", "macos-15", "windows-cpu-4-core"]
-        PYTHON_VERSION: ["3.10", "3.11", "3.12"]
+        PYTHON_VERSION: ["3.10", "3.11", "3.12", "3.13"]
 
     env:
       HF_HUB_DOWNLOAD_TIMEOUT: 60

.github/workflows/production.yml

@@ -22,7 +22,7 @@ jobs:
       WANDB_API_KEY: ${{ secrets.WANDB_API_KEY }}
       HF_TOKEN: ${{ secrets.HF_TOKEN }}
       HF_HUB_DOWNLOAD_TIMEOUT: 60
-      GENESIS_IMAGE_VER: "1_0"
+      GENESIS_IMAGE_VER: "1_1"
       TIMEOUT_MINUTES: 180
 
     steps:

examples/drone/interactive_drone.py

@@ -1,16 +1,17 @@
-import argparse
-import numpy as np
-import genesis as gs
 import time
 import threading
+
 from pynput import keyboard
+import numpy as np
+
+import genesis as gs
 
 
 class DroneController:
     def __init__(self):
-        self.thrust = 14468.429183500699  # Base hover RPM - constant hover
-        self.rotation_delta = 200  # Differential RPM for rotation
-        self.thrust_delta = 10  # Amount to change thrust by when accelerating/decelerating
+        self.thrust = 14475.8  # Base hover RPM - constant hover
+        self.rotation_delta = 200.0  # Differential RPM for rotation
+        self.thrust_delta = 10.0  # Amount to change thrust by when accelerating/decelerating
         self.running = True
         self.rpms = [self.thrust] * 4
         self.pressed_keys = set()
@@ -93,46 +94,37 @@ def update_thrust(self):
 
 def run_sim(scene, drone, controller):
     while controller.running:
-        try:
-            # Update drone with current RPMs
-            rpms = controller.update_thrust()
-            drone.set_propellels_rpm(rpms)
+        # Update drone with current RPMs
+        rpms = controller.update_thrust()
+        drone.set_propellels_rpm(rpms)
 
-            # Update physics
-            scene.step()
+        # Update physics
+        scene.step(refresh_visualizer=False)
 
-            time.sleep(1 / 60)  # Limit simulation rate
-        except Exception as e:
-            print(f"Error in simulation loop: {e}")
-
-    if scene.viewer:
-        scene.viewer.stop()
+        # Limit simulation rate
+        time.sleep(1.0 / scene.viewer.max_FPS)
 
 
 def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument("-v", "--vis", action="store_true", default=True, help="Enable visualization (default: True)")
-    parser.add_argument("-m", "--mac", action="store_true", default=False, help="Running on MacOS (default: False)")
-    args = parser.parse_args()
-
     # Initialize Genesis
     gs.init(backend=gs.cpu)
 
-    # Create scene with initial camera view
-    viewer_options = gs.options.ViewerOptions(
-        camera_pos=(0.0, -4.0, 2.0),  # Now behind the drone (negative Y)
-        camera_lookat=(0.0, 0.0, 0.5),
-        camera_fov=45,
-        max_FPS=60,
-    )
-
+    # Create scene
     scene = gs.Scene(
         sim_options=gs.options.SimOptions(
             dt=0.01,
             gravity=(0, 0, -9.81),
         ),
-        viewer_options=viewer_options,
-        show_viewer=args.vis,
+        viewer_options=gs.options.ViewerOptions(
+            camera_pos=(0.0, -2.0, 1.0),
+            camera_lookat=(0.0, 0.0, 0.3),
+            camera_fov=45,
+            max_FPS=60,
+        ),
+        vis_options=gs.options.VisOptions(
+            show_world_frame=False,
+        ),
+        show_viewer=True,
     )
 
     # Add entities
@@ -146,38 +138,32 @@ def main():
 
     scene.viewer.follow_entity(drone)
 
-    # Build scene
-    scene.build()
-
     # Initialize controller
     controller = DroneController()
 
+    # Start keyboard listener.
+    # Note that instantiating the listener after building the scene causes segfault on MacOS.
+    listener = keyboard.Listener(on_press=controller.on_press, on_release=controller.on_release)
+    listener.start()
+
+    # Build scene
+    scene.build()
+
     # Print control instructions
     print("\nDrone Controls:")
     print("↑ - Move Forward (North)")
     print("↓ - Move Backward (South)")
     print("← - Move Left (West)")
     print("→ - Move Right (East)")
+    print("space - Increase RPM")
+    print("shift - Decrease RPM")
     print("ESC - Quit\n")
     print("Initial hover RPM:", controller.thrust)
 
-    # Start keyboard listener
-    listener = keyboard.Listener(on_press=controller.on_press, on_release=controller.on_release)
-    listener.start()
-
-    if args.mac:
-        # Run simulation in another thread
-        sim_thread = threading.Thread(target=run_sim, args=(scene, drone, controller))
-        sim_thread.start()
-
-        if args.vis:
-            scene.viewer.start()
+    # Run simulation in another thread
+    threading.Thread(target=run_sim, args=(scene, drone, controller)).start()
+    scene.viewer.run()
 
-        # Wait for threads to finish
-        sim_thread.join()
-    else:
-        # Run simulation in main thread
-        run_sim(scene, drone, controller)
     listener.stop()
 
 

examples/rigid/single_franka_batch_render.py

@@ -42,15 +42,15 @@ def main():
         pos=(1.5, 0.5, 1.5),
         lookat=(0.0, 0.0, 0.5),
         fov=45,
-        GUI=True,
+        GUI=args.vis,
     )
     cam_0.attach(franka.links[6], trans_to_T(np.array([0.0, 0.5, 0.0])))
     cam_1 = scene.add_camera(
         res=(512, 512),
         pos=(1.5, -0.5, 1.5),
         lookat=(0.0, 0.0, 0.5),
         fov=45,
-        GUI=True,
+        GUI=args.vis,
     )
     scene.add_light(
         pos=[0.0, 0.0, 1.5],
@@ -81,8 +81,8 @@ def main():
             rgba, depth, _, _ = scene.render_all_cameras(rgb=True, depth=True)
             exporter.export_frame_all_cameras(i, rgb=rgba, depth=depth)
         else:
-            rgba, depth, _, _ = cam_0.render(rgb=True, depth=True)
-            exporter.export_frame_single_camera(i, cam_0.idx, rgb=rgba, depth=depth)
+            rgba, depth, _, _ = cam_1.render(rgb=True, depth=True)
+            exporter.export_frame_single_camera(i, cam_1.idx, rgb=rgba, depth=depth)
 
 
 if __name__ == "__main__":

genesis/engine/entities/rigid_entity/rigid_link.py

@@ -1,9 +1,9 @@
 from typing import TYPE_CHECKING
 
 import numpy as np
-from numpy.typing import ArrayLike
 import taichi as ti
 import torch
+from numpy.typing import ArrayLike
 
 import genesis as gs
 import trimesh

genesis/engine/scene.py

@@ -1,10 +1,11 @@
 import os
+import pickle
+import time
 
 import numpy as np
 import torch
-import pickle
-import time
 import taichi as ti
+from numpy.typing import ArrayLike
 
 import genesis as gs
 import genesis.utils.geom as gu
@@ -434,95 +435,84 @@ def link_entities(
 
         if child_link._parent_idx != -1:
             gs.logger.warning(
-                "Child entity already has a parent link. This may cause the entity to break into parts. Make sure this operation is intended."
+                "Child entity already has a parent link. This may cause the entity to break into parts. Make sure "
+                "this operation is intended."
             )
         child_link._parent_idx = parent_link.idx
         parent_link._child_idxs.append(child_link.idx)
 
     @gs.assert_unbuilt
     def add_light(
         self,
-        morph: Morph,
-        color=(1.0, 1.0, 1.0, 1.0),
-        intensity=20.0,
-        revert_dir=False,
-        double_sided=False,
-        beam_angle=180.0,
+        *,
+        morph: Morph | None = None,
+        color: ArrayLike | None = (1.0, 1.0, 1.0, 1.0),
+        intensity: float = 20.0,
+        revert_dir: bool | None = False,
+        double_sided: bool | None = False,
+        beam_angle: float | None = 180.0,
+        pos: ArrayLike | None = None,
+        dir: ArrayLike | None = None,
+        directional: bool | None = None,
+        castshadow: bool | None = None,
+        cutoff: float | None = None,
     ):
         """
-        Add a light to the scene. Note that lights added this way can be instantiated from morphs
-        (supporting `gs.morphs.Primitive` or `gs.morphs.Mesh`), and will only be used by the RayTracer renderer.
+        Add a light to the scene.
+
+        Warning
+        -------
+        The signature of this method is different depending on the renderer being used, i.e.:
+        - RayTracer: 'add_light(self, morph, color, intensity, revert_dir, double_sided, beam_angle)'
+        - BatchRender: 'add_ligth(self, pos, dir, intensity, directional, castshadow, cutoff)'
+        - Rasterizer: **Unsupported**
 
         Parameters
         ----------
         morph : gs.morphs.Morph
-            The morph of the light. Must be an instance of `gs.morphs.Primitive` or `gs.morphs.Mesh`.
+            The morph of the light. Must be an instance of `gs.morphs.Primitive` or `gs.morphs.Mesh`. Only supported by
+            RayTracer.
         color : tuple of float, shape (3,)
-            The color of the light, specified as (r, g, b).
+            The color of the light, specified as (r, g, b). Only supported by RayTracer.
         intensity : float
             The intensity of the light.
         revert_dir : bool
             Whether to revert the direction of the light. If True, the light will be emitted towards the mesh's inside.
+            Only supported by RayTracer.
         double_sided : bool
-            Whether to emit light from both sides of surface.
+            Whether to emit light from both sides of surface. Only supported by RayTracer.
         beam_angle : float
-            The beam angle of the light.
-        """
-        if isinstance(self.renderer_options, gs.renderers.BatchRenderer):
-            gs.logger.warning(
-                "This add_light() function is only supported when NOT using BatchRenderer."
-                "Please use add_light(self, pos, dir, intensity, directional, castshadow, cutoff) instead."
-            )
-            return
-
-        if self.visualizer.raytracer is None:
-            gs.logger.warning("Light is only supported by RayTracer renderer.")
-            return
-
-        if not isinstance(morph, (gs.morphs.Primitive, gs.morphs.Mesh)):
-            gs.raise_exception("Light morph only supports `gs.morphs.Primitive` or `gs.morphs.Mesh`.")
-
-        mesh = gs.Mesh.from_morph_surface(morph, gs.surfaces.Plastic(smooth=False))
-        self.visualizer.raytracer.add_mesh_light(
-            mesh, color, intensity, morph.pos, morph.quat, revert_dir, double_sided, beam_angle
-        )
-
-    @gs.assert_unbuilt
-    def add_light(
-        self,
-        pos,
-        dir,
-        intensity,
-        directional,
-        castshadow,
-        cutoff,
-    ):
-        """
-        Add a light to the scene for batch renderer.
-
-        Parameters
-        ----------
+            The beam angle of the light. Only supported by RayTracer.
         pos : tuple of float, shape (3,)
-            The position of the light, specified as (x, y, z).
+            The position of the light, specified as (x, y, z). Only supported by BatchRenderer.
         dir : tuple of float, shape (3,)
-            The direction of the light, specified as (x, y, z).
+            The direction of the light, specified as (x, y, z). Only supported by BatchRenderer.
         intensity : float
-            The intensity of the light.
+            The intensity of the light. Only supported by BatchRenderer.
         directional : bool
-            Whether the light is directional.
+            Whether the light is directional. Only supported by BatchRenderer.
         castshadow : bool
-            Whether the light casts shadows.
+            Whether the light casts shadows. Only supported by BatchRenderer.
         cutoff : float
-            The cutoff angle of the light in degrees.
+            The cutoff angle of the light in degrees. Only supported by BatchRenderer.
         """
-        if not isinstance(self.renderer_options, gs.renderers.BatchRenderer):
-            gs.logger.warning(
-                "This add_light() function is only supported when using BatchRenderer."
-                "Please use add_light(self, morph, color, intensity, revert_dir, double_sided, beam_angle) instead."
+        if self._visualizer.batch_renderer is not None:
+            if any(map(lambda e: e is None, (pos, dir, intensity, directional, castshadow, cutoff))):
+                gs.raise_exception("Input arguments do not complain with expected signature when using 'BatchRenderer'")
+
+            self.visualizer.add_light(pos, dir, intensity, directional, castshadow, cutoff)
+        elif self.visualizer.raytracer is not None:
+            if any(map(lambda e: e is None, (morph, color, intensity, revert_dir, double_sided, beam_angle))):
+                gs.raise_exception("Input arguments do not complain with expected signature when using 'RayTracer'")
+            if not isinstance(morph, (gs.morphs.Primitive, gs.morphs.Mesh)):
+                gs.raise_exception("Light morph only supports `gs.morphs.Primitive` or `gs.morphs.Mesh`.")
+
+            mesh = gs.Mesh.from_morph_surface(morph, gs.surfaces.Plastic(smooth=False))
+            self.visualizer.raytracer.add_mesh_light(
+                mesh, color, intensity, morph.pos, morph.quat, revert_dir, double_sided, beam_angle
             )
-            return
-
-        self.visualizer.add_light(pos, dir, intensity, directional, castshadow, cutoff)
+        else:
+            gs.raise_exception("Adding lights is only supported by 'RayTracer' and 'BatchRenderer'.")
 
     @gs.assert_unbuilt
     def add_camera(
@@ -780,7 +770,8 @@ def _reset(self, state: SimState | None = None, *, envs_idx=None):
         self._forward_ready = True
         self._reset_grad()
 
-        # TODO: sets _t = -1; not sure this is env isolation safe
+        # Clear the entire cache of the visualizer.
+        # TODO: Could be optimized to only clear cache associated the the environments being reset.
         self._visualizer.reset()
 
         # TODO: sets _next_particle = 0; not sure this is env isolation safe
@@ -1110,8 +1101,11 @@ def render_all_cameras(self, rgb=True, depth=False, normal=False, segmentation=F
         Returns:
             A tuple of tensors of shape (n_envs, H, W, 3) if rgb is not None,
             otherwise a list of tensors of shape (n_envs, H, W, 1) if depth is not None.
-            If n_envs ==0, the first dimension of the tensor is squeezed.
+            If n_envs == 0, the first dimension of the tensor is squeezed.
         """
+        if self._visualizer.batch_renderer is None:
+            gs.raise_exception("Method only supported by 'BatchRenderer'")
+
         return self._visualizer.batch_renderer.render(rgb, depth, normal, segmentation, force_render)
 
     @gs.assert_built

genesis/engine/solvers/avatar_solver.py

@@ -57,7 +57,9 @@ def _kernel_step(self):
 
     @ti.kernel
     def _kernel_forward_kinematics_links_geoms(self, envs_idx: ti.types.ndarray()):
-        for i_b in envs_idx:
+        for i_b_ in range(envs_idx.shape[0]):
+            i_b = envs_idx[i_b_]
+
             self._func_forward_kinematics(
                 i_b,
                 self.links_state,