Bad rendering with franka robot mjcf

[realquantumcookie]

Dear authors of genesis-nyx,

Thanks for your release of genesis-nyx! I hope the source code gets released in the near future.
I just tried genesis-nyx today and all the examples work for me, however when I try to incorporate in my existing repo, I found it has some issues rendering my franka robot directly taken from the mujoco-menagerie repo. I have attached a side-by-side comparison between using the default rasterizer and nyx (batchrenderer also worked on my repo, just not the nyx renderer).

My environment is RTX 4090 with nvidia driver version 595.71.05 (supports cuda 13.2), python 3.12.13, genesis-world 1.0.0, quadrants 0.8.0, and the newest version of genesis-nyx.

I have also attached a minimal reproduction code below.

nyx_fr3_repro.zip

Thank you for looking into this issue!

[AnisB]

Hi @realquantumcookie
Thank you very much for sharing a repro. We'll investigate and fix or come back to you depending on what we find out!
Thanks,

[AnisB]

Hey @realquantumcookie,
Thanks for reporting again. It's awesome to have such a clean repro 🙏!
It was a genesis bug, you can track the PR just above!