[DO NOT MERGE] Test Batch renderer macos fix#1489
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Create tuples directly in BatchRender.render() Check input_types in Camera.set_pose() with set Update comments in batch_render.py and scene.py
* Improve math formulas and comments * Simplify the math to do y-forward quaternion transform * Black format scene.py and camera.py * Refactor ImageExporter to handle RGB and Depth separately with partial function * Black format image_exporter.py and batch_renderer.py
* Genesis now passes render_options to Madrona to specify the which outputs to generate, including RGB and Depth for now * Black format batch_renderer.py
…tiple environments (#4) * Fix transform issue with camera.set_pose by supporting batch transform with z_up_to_R Optimize quaternion transform of camera with Taichi kernel * Format files with black * Optimize R_to_quat
Create tuples directly in BatchRender.render() Check input_types in Camera.set_pose() with set Update comments in batch_render.py and scene.py
* Improve math formulas and comments * Simplify the math to do y-forward quaternion transform * Black format scene.py and camera.py * Refactor ImageExporter to handle RGB and Depth separately with partial function * Black format image_exporter.py and batch_renderer.py
* Genesis now passes render_options to Madrona to specify the which outputs to generate, including RGB and Depth for now * Black format batch_renderer.py
… wrong. It uses nenvs as index to be passed to attach. With the new implementation, index is not required. With batch rendering, cameras attached to links can be updated for each environment.
…pport-batch-renderer
… consistency of gu.z_up_to_R() and gu.pos_lookat_up_to_T() for numpy and tensor
…pport-batch-renderer
Add unit test to make sure their outputs are consistent.
…AI/Genesis into support-batch-renderer
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Description
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
How Has This Been / Can This Be Tested?
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Checklist:
Submitting Code Changessection of CONTRIBUTING document.