Yiling/250907 ipc

.github/workflows/generic.yml

@@ -15,21 +15,29 @@ concurrency:
 
 jobs:
   generic-cpu:
+    name: ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}-${{ matrix.GS_USE_NDARRAY == '1' && 'ndarray' || 'field' }}
+
     strategy:
       fail-fast: false
       matrix:
         # See official Github documentation for details: https://shorturl.at/NJgsj
         OS: ["ubuntu-22.04", "ubuntu-24.04", "macos-15"]
         PYTHON_VERSION: ["3.10", "3.11", "3.12", "3.13"]
+        GS_USE_NDARRAY: ["0"]
         include:
           - OS: "windows-cpu-4-core"
             PYTHON_VERSION: "3.12"
+            GS_USE_NDARRAY: "0"
+          - OS: "ubuntu-24.04"
+            PYTHON_VERSION: "3.12"
+            GS_USE_NDARRAY: "1"
 
     env:
       HF_HUB_DOWNLOAD_TIMEOUT: 60
       FORCE_COLOR: 1
       PY_COLORS: 1
       GS_CACHE_FILE_PATH: ".cache/genesis"
+      GS_USE_NDARRAY: ${{ matrix.GS_USE_NDARRAY }}
       TI_OFFLINE_CACHE: "1"
       TI_OFFLINE_CACHE_CLEANING_POLICY: "never"
       TI_OFFLINE_CACHE_FILE_PATH: ".cache/taichi"

.github/workflows/production.yml

@@ -46,12 +46,6 @@ jobs:
 
           mkdir -p "${HOME}/.cache"
 
-          # Prefer idle nodes if any
-          IDLE_NODES=$(sinfo -h -o "%N %t" | awk '$2 == "idle" {print $1}')
-          if [[ -n "$IDLE_NODES" ]]; then
-            NODELIST="--nodelist=$IDLE_NODES"
-          fi
-
           # TODO: USD baking does not currently support Python 3.11 since
           # NVIDIA does not currently release `omniverse-kit==107.3` on PyPI.
           # See: https://github.com/Genesis-Embodied-AI/Genesis/pull/1300
@@ -61,10 +55,8 @@ jobs:
           "${{ github.workspace }}":/root/workspace,\
           "${HOME}/.cache":/root/.cache \
             --no-container-mount-home --container-workdir=/root/workspace \
-            --export=\
-          HF_TOKEN="${HF_TOKEN}",\
-          NVIDIA_DRIVER_CAPABILITIES=all \
-            --partition=hpc-mid ${NODELIST} --nodes=1 --time="${TIMEOUT_MINUTES}" \
+            --export=NVIDIA_DRIVER_CAPABILITIES=all,HF_TOKEN \
+            --partition=hpc-mid --exclusive --nodes=1 --time="${TIMEOUT_MINUTES}" \
             --job-name=${SLURM_JOB_NAME} \
             bash -c "
               pip install --extra-index-url https://pypi.nvidia.com/ omniverse-kit && \

README.md

@@ -109,10 +109,11 @@ xhost +local:root # Allow the container to access the display
 
 docker run --gpus all --rm -it \
 -e DISPLAY=$DISPLAY \
+-e LOCAL_USER_ID="$(id -u)" \
 -v /dev/dri:/dev/dri \
 -v /tmp/.X11-unix/:/tmp/.X11-unix \
--v $PWD:/workspace \
-genesis
+-v $(pwd):/workspace \
+--name genesis genesis:latest
 ```
 
 ### AMD users

README_CN.md

@@ -108,10 +108,11 @@ xhost +local:root # 允许容器访问显示设备
 
 docker run --gpus all --rm -it \
 -e DISPLAY=$DISPLAY \
+-e LOCAL_USER_ID="$(id -u)" \
 -v /dev/dri:/dev/dri \
 -v /tmp/.X11-unix/:/tmp/.X11-unix \
--v $PWD:/workspace \
-genesis
+-v $(pwd):/workspace \
+--name genesis genesis:latest
 ```
 
 ### AMD 用户

README_FR.md

@@ -109,10 +109,11 @@ xhost +local:root # Autoriser le conteneur à accéder à l'affichage
 
 docker run --gpus all --rm -it \
 -e DISPLAY=$DISPLAY \
+-e LOCAL_USER_ID="$(id -u)" \
 -v /dev/dri:/dev/dri \
 -v /tmp/.X11-unix/:/tmp/.X11-unix \
--v $PWD:/workspace \
-genesis
+-v $(pwd):/workspace \
+--name genesis genesis:latest
 ```
 
 ### Utilisateurs AMD

README_JA.md

@@ -109,10 +109,11 @@ xhost +local:root # コンテナがディスプレイにアクセスすること
 
 docker run --gpus all --rm -it \
 -e DISPLAY=$DISPLAY \
+-e LOCAL_USER_ID="$(id -u)" \
 -v /dev/dri:/dev/dri \
 -v /tmp/.X11-unix/:/tmp/.X11-unix \
--v $PWD:/workspace \
-genesis
+-v $(pwd):/workspace \
+--name genesis genesis:latest
 ```
 
 ### AMDユーザー

README_KR.md

@@ -109,10 +109,11 @@ xhost +local:root # 컨테이너가 디스플레이에 접근하도록 허용
 
 docker run --gpus all --rm -it \
 -e DISPLAY=$DISPLAY \
+-e LOCAL_USER_ID="$(id -u)" \
 -v /dev/dri:/dev/dri \
 -v /tmp/.X11-unix/:/tmp/.X11-unix \
--v $PWD:/workspace \
-genesis
+-v $(pwd):/workspace \
+--name genesis genesis:latest
 ```
 
 ### AMD 사용자

RELEASE.md

@@ -1,5 +1,20 @@
 # Genesis Release Note
 
+## 0.3.3
+
+This minor release fixes a few non-blocking rendering issues for the Rasterizer backend.
+
+### Bug Fixes
+
+* [BUG FIX] Fix shadow map not properly rendered for objects far away from floor plane. (@duburcqa) (#1664)
+* [BUG FIX] Fix genesis import failure if tkinter is failing at init on MacOS. (@duburcqa) (#1666)
+* [BUG FIX] Fix default visualization mode for emitter surface. (@duburcqa) (#1665)
+
+### Miscellaneous
+
+* [MISC] Expose parameters for ground plane tiling. (@yuhongyi) (#1657)
+* [MISC] Add support of 'ti.ndarray' to 'ti_field_to_torch' and rename in 'ti_to_torch'. (@duburcqa) (#1661)
+
 ## 0.3.2
 
 This minor release fixes a few additional regressions and initiates migration to our own open-source fork of Taichi, [GsTaichi](https://github.com/Genesis-Embodied-AI/gstaichi) (contributions are welcome!).

docker/Dockerfile

@@ -85,6 +85,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 WORKDIR /workspace
 
+# ------------------------ No root user --------------------------
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user
+
 # --------------------------- Genesis ----------------------------
 RUN pip install --no-cache-dir open3d
 RUN git clone https://github.com/Genesis-Embodied-AI/Genesis.git && \
@@ -101,12 +104,24 @@ ENV LD_LIBRARY_PATH=/opt/conda/lib/python3.11/site-packages/genesis/ext/Particle
 # Copy LuisaRender build artifacts from the builder stage
 COPY --from=builder /workspace/Genesis/genesis/ext/LuisaRender/build/bin /opt/conda/lib/python3.11/site-packages/genesis/ext/LuisaRender/build/bin
 # fix GLIBCXX_3.4.30 not found
-RUN cd /opt/conda/lib && \
-    mv libstdc++.so.6 libstdc++.so.6.old && \
-    ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6
+# Remove this — it's dangerous and broke cmake
+# RUN cd /opt/conda/lib && \
+#     mv libstdc++.so.6 libstdc++.so.6.old && \
+#     ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6
+ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
 
 COPY 10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
 COPY nvidia_icd.json /usr/share/vulkan/icd.d/nvidia_icd.json
 COPY nvidia_layers.json /etc/vulkan/implicit_layer.d/nvidia_layers.json
 
-ENTRYPOINT ["/bin/bash"]
+# ---------------------- Custom Entrypoint -----------------------
+RUN echo '#!/bin/bash\n\
+if [ -n "${LOCAL_USER_ID}" ]; then\n\
+  echo "Starting with UID: $LOCAL_USER_ID"\n\
+  usermod -u $LOCAL_USER_ID user\n\
+  chown -R user:user /opt/conda/lib/python3.11/site-packages/genesis/ext/LuisaRender/\n\
+fi\n\
+exec /bin/bash' > /entrypoint.sh && \
+chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]

examples/IPC_Solver/LibUIPC_main.py

@@ -4,7 +4,8 @@
 import argparse
 from tqdm import tqdm
 from batch_scene import PhysOptim
-SCENE_POS = (0.5, 0.5, 1.0)
+
+SCENE_POS = (0.5, 0.5, 0.30)
 
 
 def main():
@@ -16,7 +17,7 @@ def main():
     parser.add_argument(
         "--substeps", type=int, help="Number of substeps (auto-selected based on solver if not specified)"
     )
-    #parser.add_argument("--vis", "-v", action="store_true", help="Show visualization GUI")
+    # parser.add_argument("--vis", "-v", action="store_true", help="Show visualization GUI")
 
     args = parser.parse_args()
 
@@ -41,34 +42,61 @@ def main():
         profiling_options=gs.options.ProfilingOptions(
             show_FPS=False,
         ),
-        show_viewer=True,
+        # renderer=gs.renderers.RayTracer(  # type: ignore
+        #     env_surface=gs.surfaces.Emission(
+        #         emissive_texture=gs.textures.ImageTexture(
+        #             image_path="textures/indoor_bright.png",
+        #         ),
+        #     ),
+        #     env_radius=15.0,
+        #     env_euler=(0, 0, 180),
+        #     lights=[
+        #         {"pos": (0.0, 0.0, 10.0), "radius": 3.0, "color": (15.0, 15.0, 15.0)},
+        #     ],
+        # ),
+        show_viewer=False,
     )
 
     scene.add_entity(gs.morphs.Plane())
 
     blob = scene.add_entity(
-        morph=gs.morphs.Sphere(pos=tuple(map(sum, zip(SCENE_POS, (-0., -0., 0.3)))), radius=0.1),
+        morph=gs.morphs.Sphere(pos=tuple(map(sum, zip(SCENE_POS, (-0.0, -0.0, 0.3)))), radius=0.1),
         material=gs.materials.FEM.Elastic(E=1.0e4, nu=0.45, rho=1000.0, model="stable_neohookean"),
+        surface=gs.surfaces.Plastic(color=(0.8, 0.2, 0.2, 0.5)),
     )
 
     cube = scene.add_entity(
-        morph=gs.morphs.Box(pos=tuple(map(sum, zip(SCENE_POS, (0., 0., 0)))), size=(0.2, 0.2, 0.2)),
+        morph=gs.morphs.Box(pos=tuple(map(sum, zip(SCENE_POS, (0.0, 0.0, 0)))), size=(0.2, 0.2, 0.2)),
         material=gs.materials.FEM.Elastic(E=1.0e6, nu=0.45, rho=1000.0, model="stable_neohookean"),
+        surface=gs.surfaces.Plastic(color=(0.2, 0.8, 0.2, 0.5)),
     )
 
+    import polyscope as ps
+
+    # ps.init()
+    # ps.set_window_size(1600, 1280)
+
+    mesh_trimesh_dict = {}
+    mesh_trimesh_dict["cube"] = [cube.init_positions.numpy(), cube.elems]
+    mesh_trimesh_dict["blob"] = [blob.init_positions.numpy(), blob.elems]
+    ipc_sim = PhysOptim(mesh_trimesh_dict, optim_num=0, visualize=True)
+    scene.build()
+
+    def on_update():
+        new_state = ipc_sim.step()
+        print(new_state["tet_0"]["positions"].shape)
+        if "tet_0" in new_state:
+            cube.set_pos(0, new_state["tet_0"]["positions"][None])
+        if "tet_1" in new_state:
+            blob.set_pos(0, new_state["tet_1"]["positions"][None])
+        # scene._t += 1
+        # scene._visualizer.update(force=True, auto=True)
 
-    #print(cube.elems)
-    #print(cube.init_positions.numpy())
-    useGenesis = False
-    if useGenesis:
-        scene.build()
-        for step in range(50000):
-            scene.step()
-    else:
-        mesh_trimesh_dict = {}
-        mesh_trimesh_dict['cube'] = [cube.init_positions.numpy(), cube.elems]
-        mesh_trimesh_dict['blob'] = [blob.init_positions.numpy(), blob.elems]
-        PhysOptim(mesh_trimesh_dict, 0)
+    for i in range(100):
+        on_update()
+        print(f"Step {i}")
+    # ps.set_user_callback(on_update)
+    # ps.show()
 
 
 if __name__ == "__main__":