[MISC] Disable shadow and plane reflection when using software rendering.

genesis/engine/sensors/imu.py

@@ -271,7 +271,7 @@ def _draw_debug(self, context: "RasterizerContext", buffer_updates: dict[str, np
         data = self.read(env_idx)
         acc_vec = data.lin_acc.reshape((3,)) * self._options.debug_acc_scale
         gyro_vec = data.ang_vel.reshape((3,)) * self._options.debug_gyro_scale
-        mag_vec = data.mag.reshape((3,)) * self._options.debug_mag_scale  # added mag debug
+        mag_vec = data.mag.reshape((3,)) * self._options.debug_mag_scale
 
         # transform from local frame to world frame
         offset_quat = transform_quat_by_quat(self.quat_offset, quat)
@@ -286,8 +286,8 @@ def _draw_debug(self, context: "RasterizerContext", buffer_updates: dict[str, np
         self.debug_objects += filter(
             None,
             (
-                context.draw_debug_arrow(pos=pos, vec=acc_vec, color=self._options.debug_acc_color),
-                context.draw_debug_arrow(pos=pos, vec=gyro_vec, color=self._options.debug_gyro_color),
-                context.draw_debug_arrow(pos=pos, vec=mag_vec, color=self._options.debug_mag_color),
+                context.draw_debug_arrow(pos=pos, vec=acc_vec, radius=0.006, color=self._options.debug_acc_color),
+                context.draw_debug_arrow(pos=pos, vec=gyro_vec, radius=0.0055, color=self._options.debug_gyro_color),
+                context.draw_debug_arrow(pos=pos, vec=mag_vec, radius=0.005, color=self._options.debug_mag_color),
             ),
         )

genesis/ext/pyrender/viewer.py

@@ -59,6 +59,7 @@
 
 
 pyglet.options["shadow_window"] = False
+pyglet.options["dpi_scaling"] = "real"
 
 
 MODULE_DIR = os.path.dirname(__file__)
@@ -366,9 +367,7 @@ def __init__(
         #######################################################################
         # Initialize OpenGL context and renderer
         #######################################################################
-        self._renderer = Renderer(
-            self._viewport_size[0], self._viewport_size[1], context.jit, self.render_flags["point_size"]
-        )
+        self._renderer = Renderer(*self._viewport_size, context.jit, self.render_flags["point_size"])
         self._is_active = True
 
         # Starting the viewer would raise an exception if the OpenGL context is invalid for some reason. This exception
@@ -654,12 +653,18 @@ def on_close(self):
             super().close()
         except Exception:
             pass
-        finally:
+        try:
             super().on_close()
-            try:
-                pyglet.app.exit()
-            except Exception:
-                pass
+        except Exception:
+            pass
+        try:
+            pyglet.app.exit()
+        except Exception:
+            pass
+        try:
+            pyglet.app.platform_event_loop.stop()
+        except Exception:
+            pass
 
         self._offscreen_semaphore.release()
 
@@ -788,8 +793,8 @@ def on_resize(self, width: int, height: int) -> EVENT_HANDLE_STATE:
 
         self._viewport_size = (width, height)
         self._trackball.resize(self._viewport_size)
-        self._renderer.viewport_width = self._viewport_size[0]
-        self._renderer.viewport_height = self._viewport_size[1]
+        self._renderer.viewport_width = width
+        self._renderer.viewport_height = height
         self.on_draw()
 
     def on_mouse_motion(self, x: int, y: int, dx: int, dy: int) -> EVENT_HANDLE_STATE:
@@ -998,9 +1003,9 @@ def _render(self, camera_node=None, renderer=None, normal=False):
         elif self.render_flags["all_solid"]:
             flags |= RenderFlags.ALL_SOLID
 
-        if self.render_flags["shadows"]:
+        if self.render_flags["shadows"] and not self._is_software:
             flags |= RenderFlags.SHADOWS_ALL
-        if self.render_flags["plane_reflection"]:
+        if self.render_flags["plane_reflection"] and not self._is_software:
             flags |= RenderFlags.REFLECTIVE_FLOOR
         if self.render_flags["env_separate_rigid"]:
             flags |= RenderFlags.ENV_SEPARATE
@@ -1149,12 +1154,16 @@ def start(self, auto_refresh=True):
                         confs.insert(0, conf)
                     raise
 
+                # Determine if software emulation is being used
+                glinfo = self.context.get_info()
+                renderer = glinfo.get_renderer()
+                self._is_software = any(e in renderer for e in ("llvmpipe", "Apple Software Renderer"))
+
                 # Run the entire rendering pipeline first without window, to make sure that all kernels are compiled
                 self.refresh()
 
-                # At this point, we are all set to display the graphical window if requested
-                if not pyglet.options["headless"]:
-                    self.set_visible(True)
+                # At this point, we are all set to display the graphical window
+                self.set_visible(True)
 
                 # Run the entire rendering pipeline once again, as a final validation that everything is fine
                 self.refresh()
@@ -1202,6 +1211,13 @@ def start(self, auto_refresh=True):
         if not self._initialized_event.is_set():
             self._initialized_event.set()
 
+        gs.logger.debug(f"Using interactive viewer OpenGL device: {renderer}")
+        if self._is_software:
+            gs.logger.info(
+                "Software rendering context detected. Shadows and plane reflection not supported. Beware rendering "
+                "will be extremely slow."
+            )
+
         if auto_refresh:
             while self._is_active:
                 try:

genesis/options/sensors/options.py

@@ -226,15 +226,15 @@ class IMU(RigidSensorOptionsMixin, NoisySensorOptionsMixin, SensorOptions):
     mag_random_walk : tuple[float, float, float]
         The standard deviation of the bias drift for each axis of the magnetometer.
     debug_acc_color : float, optional
-        The rgba color of the debug acceleration arrow. Defaults to (0.0, 1.0, 1.0, 0.5).
+        The rgba color of the debug acceleration arrow. Defaults to (1.0, 0.0, 0.0, 0.6).
     debug_acc_scale: float, optional
         The scale factor for the debug acceleration arrow. Defaults to 0.01.
     debug_gyro_color : float, optional
-        The rgba color of the debug gyroscope arrow. Defaults to (1.0, 1.0, 0.0, 0.5).
+        The rgba color of the debug gyroscope arrow. Defaults to (0.0, 1.0, 0.0, 0.6).
     debug_gyro_scale: float, optional
         The scale factor for the debug gyroscope arrow. Defaults to 0.01.
     debug_mag_color : float, optional
-        The rgba color of the debug magnetometer arrow. Defaults to (1.0, 1.0, 0.0, 0.5).
+        The rgba color of the debug magnetometer arrow. Defaults to (0.0, 0.0, 1.0, 0.6).
     debug_mag_scale: float, optional
         The scale factor for the debug magnetometer arrow. Defaults to 0.01.
     """
@@ -261,12 +261,12 @@ class IMU(RigidSensorOptionsMixin, NoisySensorOptionsMixin, SensorOptions):
     mag_random_walk: MaybeTuple3FType = 0.0
     magnetic_field: MaybeTuple3FType = (0.0, 0.0, 0.5)
 
-    debug_acc_color: tuple[float, float, float, float] = (0.0, 1.0, 1.0, 0.5)
+    debug_acc_color: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.6)
     debug_acc_scale: float = 0.01
-    debug_gyro_color: tuple[float, float, float, float] = (1.0, 1.0, 0.0, 0.5)
+    debug_gyro_color: tuple[float, float, float, float] = (0.0, 1.0, 0.0, 0.6)
     debug_gyro_scale: float = 0.01
-    debug_mag_color: tuple[float, float, float, float] = (0.0, 0.0, 1.0, 0.5)
-    debug_mag_scale: float = 2.0
+    debug_mag_color: tuple[float, float, float, float] = (0.0, 0.0, 1.0, 0.6)
+    debug_mag_scale: float = 0.5
 
     def model_post_init(self, _):
         self._validate_cross_axis_coupling(self.acc_cross_axis_coupling)

genesis/vis/viewer.py

@@ -137,10 +137,6 @@ def build(self, scene):
 
         gs.logger.info(f"Viewer created. Resolution: ~<{self._res[0]}×{self._res[1]}>~, max_FPS: ~<{self._max_FPS}>~.")
 
-        glinfo = self._pyrender_viewer.context.get_info()
-        renderer = glinfo.get_renderer()
-        gs.logger.debug(f"Using interactive viewer OpenGL device: {renderer}")
-
         self._is_built = True
 
     def run(self):

tests/test_render.py

@@ -1036,17 +1036,21 @@ def test_draw_debug(renderer, show_viewer):
 @pytest.mark.parametrize("n_envs", [0, 2])
 @pytest.mark.parametrize("renderer_type", [RENDERER_TYPE.RASTERIZER])
 @pytest.mark.skipif(not IS_INTERACTIVE_VIEWER_AVAILABLE, reason="Interactive viewer not supported on this platform.")
-def test_sensors_draw_debug(n_envs, renderer, png_snapshot):
+def test_sensors_draw_debug(n_envs, renderer_type, renderer, png_snapshot):
     """Test that sensor debug drawing works correctly and renders visible debug elements."""
     scene = gs.Scene(
         viewer_options=gs.options.ViewerOptions(
             camera_pos=(2.0, 2.0, 2.0),
             camera_lookat=(0.0, 0.0, 0.2),
             # Force screen-independent low-quality resolution when running unit tests for consistency
-            res=(640, 480),
+            res=(480, 320),
             # Enable running in background thread if supported by the platform
             run_in_thread=(sys.platform == "linux"),
         ),
+        vis_options=gs.options.VisOptions(
+            # Disable shadows systematically for Rasterizer because they are forcibly disabled on CPU backend anyway
+            shadow=(renderer_type != RENDERER_TYPE.RASTERIZER),
+        ),
         profiling_options=gs.options.ProfilingOptions(
             show_FPS=False,
         ),
@@ -1143,19 +1147,13 @@ def test_sensors_draw_debug(n_envs, renderer, png_snapshot):
         if renderer == "Apple Software Renderer":
             pytest.xfail("Tile ground colors are altered on Apple Software Renderer.")
 
-    try:
-        assert rgb_array_to_png_bytes(rgb_arr) == png_snapshot
-    except AssertionError:
-        # TODO: Need to investigate root cause and either fix rendering consistency
-        if sys.platform == "linux" and gs.use_ndarray:
-            pytest.xfail("Sensor debug drawing produces inconsistent results on Linux with static array mode.")
-        raise
+    assert rgb_array_to_png_bytes(rgb_arr) == png_snapshot
 
 
 @pytest.mark.required
 @pytest.mark.parametrize("renderer_type", [RENDERER_TYPE.RASTERIZER])
 @pytest.mark.skipif(not IS_INTERACTIVE_VIEWER_AVAILABLE, reason="Interactive viewer not supported on this platform.")
-def test_interactive_viewer_key_press(tmp_path, monkeypatch, renderer, png_snapshot):
+def test_interactive_viewer_key_press(renderer_type, tmp_path, monkeypatch, renderer, png_snapshot):
     IMAGE_FILENAME = tmp_path / "screenshot.png"
 
     # Mock 'get_save_filename' to avoid poping up an interactive dialog
@@ -1181,13 +1179,17 @@ def on_key_press(self, symbol: int, modifiers: int):
     scene = gs.Scene(
         viewer_options=gs.options.ViewerOptions(
             # Force screen-independent low-quality resolution when running unit tests for consistency
-            res=(640, 480),
+            res=(480, 320),
             # Enable running in background thread if supported by the platform.
             # Note that windows is not supported because it would trigger the following exception if some previous tests
             # was only using rasterizer without interactive viewer:
             # 'EventLoop.run() must be called from the same thread that imports pyglet.app'.
             run_in_thread=(sys.platform == "linux"),
         ),
+        vis_options=gs.options.VisOptions(
+            # Disable shadows systematically for Rasterizer because they are forcibly disabled on CPU backend anyway
+            shadow=(renderer_type != RENDERER_TYPE.RASTERIZER),
+        ),
         renderer=renderer,
         show_viewer=True,
         show_FPS=False,

tests/utils.py

@@ -37,7 +37,7 @@
 DEFAULT_BRANCH_NAME = "main"
 
 HUGGINGFACE_ASSETS_REVISION = "ca29b66018b449a37738257a3a76a78529d29bcc"
-HUGGINGFACE_SNAPSHOT_REVISION = "0cf1780dd70b67dc426023cd97738037f0d834e3"
+HUGGINGFACE_SNAPSHOT_REVISION = "137990d0632610c575a3ac3a769031f632454254"
 
 MESH_EXTENSIONS = (".mtl", *MESH_FORMATS, *GLTF_FORMATS, *USD_FORMATS)
 IMAGE_EXTENSIONS = (".png", ".jpg")