diff --git a/examples/rendering/demo.py b/examples/rendering/demo.py index f2f690a26..6ada02c89 100644 --- a/examples/rendering/demo.py +++ b/examples/rendering/demo.py @@ -143,9 +143,10 @@ def main(): ) ########################## cameras ########################## cam_0 = scene.add_camera( - pos=(8.5, 0.0, 4.5), - lookat=(3.0, 0.0, 0.5), - fov=50, + res=(1600, 900), + pos=(8.5, 0.0, 1.5), + lookat=(3.0, 0.0, 0.7), + fov=60, GUI=True, spp=512, ) @@ -153,59 +154,11 @@ def main(): ########################## forward + backward twice ########################## scene.reset() - horizon = 10 + horizon = 2000 for i in range(horizon): scene.step() - rgb, depth, _, _ = scene.batch_render() - output_rgb_and_depth('img_output/test', rgb, depth, i) - - -import os -import cv2 -import numpy as np - -# TODO: Dump image faster, e.g., asynchronously or generate a video instead of saving images. -def output_rgb(output_dir, rgb, i_env, i_cam, i_step): - rgb = rgb.cpu().numpy()[i_env, i_cam] - cv2.imwrite(f'{output_dir}/rgb_env{i_env}_cam{i_cam}_{i_step:03d}.png', rgb) - -def output_depth(output_dir, depth, i_env, i_cam, i_step): - depth = depth.cpu().numpy()[i_env, i_cam] - depth = np.asarray(depth) - depth = np.clip(depth, 0, 100) - depth_normalized = cv2.normalize(depth, None, 0, 255, cv2.NORM_MINMAX) - depth_uint8 = depth_normalized.astype(np.uint8) - cv2.imwrite(f'{output_dir}/depth_env{i_env}_cam{i_cam}_{i_step:03d}.png', depth_uint8) - -def output_rgb_and_depth(output_dir, rgb, depth, i_step): - # loop over the first and second dimension of rgb and depth - for i_env in range(rgb.shape[0]): - for i_cam in range(rgb.shape[1]): - if not os.path.exists(output_dir): - os.makedirs(output_dir) - output_rgb(output_dir, rgb, i_env, i_cam, i_step) - output_depth(output_dir, depth, i_env, i_cam, i_step) - -def output_rgb_single_cam(output_dir, rgb, i_env, i_step, cam_idx): - rgb = rgb.cpu().numpy()[i_env] - cv2.imwrite(f'{output_dir}/rgb_env{i_env}_cam{cam_idx}_{i_step:03d}.png', rgb) - -def output_depth_single_cam(output_dir, depth, i_env, i_step, cam_idx): - depth = depth.cpu().numpy()[i_env] - depth = np.asarray(depth) - depth = np.clip(depth, 0, 100) - depth_normalized = cv2.normalize(depth, None, 0, 255, cv2.NORM_MINMAX) - depth_uint8 = depth_normalized.astype(np.uint8) - cv2.imwrite(f'{output_dir}/depth_env{i_env}_cam{cam_idx}_{i_step:03d}.png', depth_uint8) - -def output_rgb_and_depth_single_cam(output_dir, rgb, depth, i_step, cam_idx): - # loop over the first and second dimension of rgb and depth - for i_env in range(rgb.shape[0]): - if not os.path.exists(output_dir): - os.makedirs(output_dir) - output_rgb_single_cam(output_dir, rgb, i_env, i_step, cam_idx) - output_depth_single_cam(output_dir, depth, i_env, i_step, cam_idx) + cam_0.render() if __name__ == "__main__": diff --git a/examples/rigid/single_franka.py b/examples/rigid/single_franka.py index 8e8cf1317..14cf1f0f8 100644 --- a/examples/rigid/single_franka.py +++ b/examples/rigid/single_franka.py @@ -1,8 +1,7 @@ import argparse import genesis as gs -import numpy as np -from genesis.utils.image_exporter import FrameImageExporter + def main(): @@ -45,16 +44,11 @@ def main(): GUI=True, ) ########################## build ########################## - - # Create an image exporter - output_dir = 'img_output/test' - exporter = FrameImageExporter(output_dir) - scene.build() - for i in range(10): + for i in range(1000): scene.step() - rgb, depth, seg, normal = cam_0.render(rgb=True, depth=True) - exporter.export_frame_single_cam(i, cam_0.idx, rgb=rgb, depth=depth) + # cam_0.render() + if __name__ == "__main__": main() diff --git a/examples/rigid/single_franka_batch_render.py b/examples/rigid/single_franka_batch_render.py index 767a5ab97..774df8354 100644 --- a/examples/rigid/single_franka_batch_render.py +++ b/examples/rigid/single_franka_batch_render.py @@ -76,12 +76,12 @@ def main(): ########################## build ########################## n_envs = 3 n_steps = 2 - do_batch_export = True + is_render_all_cams = True scene.build(n_envs=n_envs) # Warmup scene.step() - rgb, depth, _, _ = scene.batch_render() + rgb, depth, _, _ = scene.render_all_cams() # Create an image exporter output_dir = 'img_output/test' @@ -93,18 +93,19 @@ def main(): for i in range(n_steps): scene.step() - if do_batch_export: - rgb, depth, _, _ = scene.batch_render() - exporter.export_frame_batch_cam(i, rgb=rgb, depth=depth) + if is_render_all_cams: + rgb, depth, _, _ = scene.render_all_cams() + exporter.export_frame_all_cams(i, rgb=rgb, depth=depth) else: rgb, depth, _, _ = cam_0.render() exporter.export_frame_single_cam(i, cam_0.idx, rgb=rgb, depth=depth) end_time = time() + actual_n_envs = n_envs if n_envs > 0 else 1 print(f'n_envs: {n_envs}') print(f'Time taken: {end_time - start_time} seconds') - print(f'Time taken per env: {(end_time - start_time) / n_envs} seconds') - print(f'FPS: {n_envs * n_steps / (end_time - start_time)}') + print(f'Time taken per env: {(end_time - start_time) / actual_n_envs} seconds') + print(f'FPS: {actual_n_envs * n_steps / (end_time - start_time)}') print(f'FPS per env: {n_steps / (end_time - start_time)}') diff --git a/genesis/assets/xml/box_mesh.xml b/genesis/assets/xml/box_mesh.xml deleted file mode 100644 index 2e1bd543c..000000000 --- a/genesis/assets/xml/box_mesh.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - diff --git a/genesis/assets/xml/unitree_g1/LICENSE b/genesis/assets/xml/unitree_g1/LICENSE deleted file mode 100644 index 62637c8d1..000000000 --- a/genesis/assets/xml/unitree_g1/LICENSE +++ /dev/null @@ -1,27 +0,0 @@ -Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/genesis/assets/xml/unitree_g1/README.md b/genesis/assets/xml/unitree_g1/README.md deleted file mode 100644 index 265c902d4..000000000 --- a/genesis/assets/xml/unitree_g1/README.md +++ /dev/null @@ -1,29 +0,0 @@ -# Unitree G1 Description (MJCF) - -> [!IMPORTANT] -> Requires MuJoCo 2.3.4 or later. - -## Overview - -This package contains a simplified robot description (MJCF) of the [G1 Humanoid -Robot](https://www.unitree.com/g1/) developed by [Unitree -Robotics](https://www.unitree.com/). It is derived from the [publicly available -MJCF -description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description). - -

- -

- -## MJCF derivation steps - -1. Copied the MJCF description from [g1_description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description). -2. Manually edited the MJCF to extract common properties into the `` section. -3. Added sites for the IMU, head and feet. -4. Add IMU sensor (gyro, accelero, framequat). -5. Added stand keyframe. -6. Added spotlight and tracking light. - -## License - -This model is released under a [BSD-3-Clause License](LICENSE). diff --git a/genesis/assets/xml/unitree_g1/assets/head_link.STL b/genesis/assets/xml/unitree_g1/assets/head_link.STL deleted file mode 100644 index 455274f41..000000000 Binary files a/genesis/assets/xml/unitree_g1/assets/head_link.STL and /dev/null differ diff --git a/genesis/assets/xml/unitree_g1/assets/left_ankle_pitch_link.STL b/genesis/assets/xml/unitree_g1/assets/left_ankle_pitch_link.STL deleted file mode 100644 index c291f607f..000000000 Binary files a/genesis/assets/xml/unitree_g1/assets/left_ankle_pitch_link.STL and /dev/null differ diff --git a/genesis/assets/xml/unitree_g1/assets/left_ankle_roll_link.STL b/genesis/assets/xml/unitree_g1/assets/left_ankle_roll_link.STL deleted file mode 100644 index f2b6ae7f2..000000000 Binary files a/genesis/assets/xml/unitree_g1/assets/left_ankle_roll_link.STL and /dev/null differ diff --git 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/genesis/assets/xml/unitree_g1/scene.xml b/genesis/assets/xml/unitree_g1/scene.xml deleted file mode 100644 index de883fb10..000000000 --- a/genesis/assets/xml/unitree_g1/scene.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/genesis/assets/xml/unitree_go2/LICENSE b/genesis/assets/xml/unitree_go2/LICENSE deleted file mode 100644 index b646a94d1..000000000 --- a/genesis/assets/xml/unitree_go2/LICENSE +++ /dev/null @@ -1,27 +0,0 @@ -Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/genesis/assets/xml/unitree_go2/README.md b/genesis/assets/xml/unitree_go2/README.md deleted file mode 100644 index 803dd43f3..000000000 --- a/genesis/assets/xml/unitree_go2/README.md +++ /dev/null @@ -1,52 +0,0 @@ -# Unitree Go2 Description (MJCF) - -Requires MuJoCo 2.2.2 or later. - -## Overview - -This package contains a simplified robot description (MJCF) of the [Go2 -Quadruped Robot](https://www.unitree.com/go2/) developed by [Unitree -Robotics](https://www.unitree.com/). It is derived from the [publicly available -URDF -description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description). - -

- -

- -## URDF → MJCF derivation steps - -1. Converted the DAE [mesh - files](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description/meshes) to OBJ format using [Blender](https://www.blender.org/). - - When exporting, ensure "up axis" is `+Z`, and "forward axis" is `+Y`. -2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf). -3. Added ` ` to the URDF's - `` clause in order to preserve visual geometries. -4. Loaded the URDF into MuJoCo and saved a corresponding MJCF. -5. Added a `` to the base. -6. Manually edited the MJCF to extract common properties into the `` section. -7. Softened the contacts of the feet to approximate the effect of rubber and - increased `impratio` to reduce slippage. -8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. - -## MJX - -A version of the Unitree Go2 model for use in MJX is available in `scene_mjx.xml` with the following changes: - -1. The solver `iterations` and `ls_iterations` were modified for performance. -2. `frictionloss` was removed. -3. The friction cone was changed from `elliptic` to `pyramidal`. -4. All contacts other than the sphere geoms were changed to sphere geoms and placed at the joints positions to simulate collisions at critical locations. - - Note: Currently, MJX cannot deal with collision geoms other than spheres. In this case, we have to put many collision spheres in critical locations of the robot such as joints, torso, and feet as illustrated below. - -

- -

- -## License - -This model is released under a [BSD-3-Clause License](LICENSE). - -## Acknowledgments - -The MJX model of Go2 was contributed by [lonelyfluency](https://github.com/lonelyfluency). diff --git a/genesis/assets/xml/unitree_go2/assets/base_0.obj b/genesis/assets/xml/unitree_go2/assets/base_0.obj deleted file mode 100644 index f2e688236..000000000 --- a/genesis/assets/xml/unitree_go2/assets/base_0.obj +++ /dev/null @@ -1,36346 +0,0 @@ -mtllib 深色橡胶.001.mtl -usemtl 深色橡胶.001 -v 0.28651000 0.03397800 -0.06016600 -v 0.28140700 0.03271000 -0.06153300 -v 0.28510200 0.03416200 -0.05502200 -v 0.29174300 0.03440500 -0.05876400 -v 0.29174300 0.03440500 -0.05876400 -v 0.28791900 0.03379400 -0.06531000 -v 0.28791900 0.03379400 -0.06531000 -v 0.29052700 0.03411300 -0.06461100 -v 0.29052700 0.03411300 -0.06461100 -v 0.28539800 0.03327700 -0.06598500 -v 0.28539800 0.03327700 -0.06598500 -v 0.28676900 0.03288900 -0.07074100 -v 0.28284300 0.03253300 -0.06667000 -v 0.28284300 0.03253300 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a/genesis/assets/xml/unitree_go2/go2_mjx.png b/genesis/assets/xml/unitree_go2/go2_mjx.png deleted file mode 100644 index 03eebc0ab..000000000 Binary files a/genesis/assets/xml/unitree_go2/go2_mjx.png and /dev/null differ diff --git a/genesis/assets/xml/unitree_go2/go2_mjx.xml b/genesis/assets/xml/unitree_go2/go2_mjx.xml deleted file mode 100644 index 9cc9e2723..000000000 --- a/genesis/assets/xml/unitree_go2/go2_mjx.xml +++ /dev/null @@ -1,249 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/genesis/assets/xml/unitree_go2/scene.xml b/genesis/assets/xml/unitree_go2/scene.xml deleted file mode 100644 index 6b027be08..000000000 --- a/genesis/assets/xml/unitree_go2/scene.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/genesis/assets/xml/unitree_go2/scene_mjx.xml b/genesis/assets/xml/unitree_go2/scene_mjx.xml deleted file mode 100644 index 944e223cd..000000000 --- a/genesis/assets/xml/unitree_go2/scene_mjx.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/genesis/engine/scene.py b/genesis/engine/scene.py index c487fe882..537c1b7ef 100644 --- a/genesis/engine/scene.py +++ b/genesis/engine/scene.py @@ -1,8 +1,13 @@ +import os + import numpy as np import torch import genesis as gs import genesis.utils.geom as gu +from genesis.engine.entities.base_entity import Entity +from genesis.engine.force_fields import ForceField +from genesis.engine.materials.base import Material from genesis.engine.entities import Emitter from genesis.engine.simulator import Simulator from genesis.options import ( @@ -11,6 +16,7 @@ FEMOptions, MPMOptions, PBDOptions, + ProfilingOptions, RigidOptions, SFOptions, SimOptions, @@ -19,10 +25,14 @@ ViewerOptions, VisOptions, ) +from genesis.options.morphs import Morph +from genesis.options.surfaces import Surface from genesis.options.renderers import Rasterizer, RendererOptions from genesis.repr_base import RBC from genesis.utils.tools import FPSTracker +from genesis.utils.misc import redirect_libc_stderr, tensor_to_array from genesis.vis import Visualizer +from genesis.utils.warnings import warn_once @gs.assert_initialized @@ -67,26 +77,42 @@ class Scene(RBC): def __init__( self, - sim_options=SimOptions(), - coupler_options=CouplerOptions(), - tool_options=ToolOptions(), - rigid_options=RigidOptions(), - avatar_options=AvatarOptions(), - mpm_options=MPMOptions(), - sph_options=SPHOptions(), - fem_options=FEMOptions(), - sf_options=SFOptions(), - pbd_options=PBDOptions(), - vis_options=VisOptions(), - viewer_options=ViewerOptions(), - renderer=Rasterizer(), - show_viewer=True, - show_FPS=True, + sim_options: SimOptions | None = None, + coupler_options: CouplerOptions | None = None, + tool_options: ToolOptions | None = None, + rigid_options: RigidOptions | None = None, + avatar_options: AvatarOptions | None = None, + mpm_options: MPMOptions | None = None, + sph_options: SPHOptions | None = None, + fem_options: FEMOptions | None = None, + sf_options: SFOptions | None = None, + pbd_options: PBDOptions | None = None, + vis_options: ViewerOptions | None = None, + viewer_options: ViewerOptions | None = None, + profiling_options: ProfilingOptions | None = None, + renderer: RendererOptions | None = None, + show_viewer: bool | None = None, + show_FPS: bool | None = None, # deprecated, use profiling_options.show_FPS instead ): - self._uid = gs.UID() - self._t = 0 - self._is_built = False - self._show_FPS = show_FPS + # Handling of default arguments + sim_options = sim_options or SimOptions() + coupler_options = coupler_options or CouplerOptions() + tool_options = tool_options or ToolOptions() + rigid_options = rigid_options or RigidOptions() + avatar_options = avatar_options or AvatarOptions() + mpm_options = mpm_options or MPMOptions() + sph_options = sph_options or SPHOptions() + fem_options = fem_options or FEMOptions() + sf_options = sf_options or SFOptions() + pbd_options = pbd_options or PBDOptions() + vis_options = vis_options or VisOptions() + viewer_options = viewer_options or ViewerOptions() + profiling_options = profiling_options or ProfilingOptions() + renderer = renderer or Rasterizer() + + if show_FPS is not None: + warn_once("Scene.show_FPS is deprecated. Please use Scene.profiling_options.show_FPS") + profiling_options.show_FPS = show_FPS # validate options self._validate_options( @@ -102,6 +128,7 @@ def __init__( pbd_options, vis_options, viewer_options, + profiling_options, renderer, ) @@ -115,6 +142,7 @@ def __init__( self.fem_options = fem_options self.sf_options = sf_options self.pbd_options = pbd_options + self.profiling_options = profiling_options self.vis_options = vis_options self.viewer_options = viewer_options @@ -160,23 +188,28 @@ def __init__( self._backward_ready = False self._forward_ready = False + self._uid = gs.UID() + self._t = 0 + self._is_built = False + gs.logger.info(f"Scene ~~~<{self._uid}>~~~ created.") def _validate_options( self, - sim_options, - coupler_options, - tool_options, - rigid_options, - avatar_options, - mpm_options, - sph_options, - fem_options, - sf_options, - pbd_options, - vis_options, - viewer_options, - renderer_options, + sim_options: SimOptions, + coupler_options: CouplerOptions, + tool_options: ToolOptions, + rigid_options: RigidOptions, + avatar_options: AvatarOptions, + mpm_options: MPMOptions, + sph_options: SPHOptions, + fem_options: FEMOptions, + sf_options: SFOptions, + pbd_options: PBDOptions, + vis_options: VisOptions, + viewer_options: ViewerOptions, + profiling_options: ProfilingOptions, + renderer_options: RendererOptions, ): if not isinstance(sim_options, SimOptions): gs.raise_exception("`sim_options` should be an instance of `SimOptions`.") @@ -214,17 +247,20 @@ def _validate_options( if not isinstance(viewer_options, ViewerOptions): gs.raise_exception("`viewer_options` should be an instance of `ViewerOptions`.") + if not isinstance(profiling_options, ProfilingOptions): + gs.raise_exception("`profiling_options` should be an instance of `ProfilingOptions`.") + if not isinstance(renderer_options, RendererOptions): gs.raise_exception("`renderer` should be an instance of `gs.renderers.Renderer`.") @gs.assert_unbuilt def add_entity( self, - morph, - material=None, - surface=None, - visualize_contact=False, - vis_mode=None, + morph: Morph, + material: Material | None = None, + surface: Surface | None = None, + visualize_contact: bool = False, + vis_mode: str | None = None, ): """ Add an entity to the scene. @@ -350,10 +386,6 @@ def add_entity( if morph.convexify is None: morph.convexify = isinstance(material, (gs.materials.Rigid, gs.materials.Avatar)) - # Decimate if convexify by default - if morph.decimate is None: - morph.decimate = morph.convexify - entity = self._sim._add_entity(morph, material, surface, visualize_contact) return entity @@ -361,8 +393,8 @@ def add_entity( @gs.assert_unbuilt def link_entities( self, - parent_entity, - child_entity, + parent_entity: Entity, + child_entity: Entity, parent_link_name="", child_link_name="", ): @@ -404,7 +436,7 @@ def link_entities( @gs.assert_unbuilt def add_light( self, - morph, + morph: Morph, color=(1.0, 1.0, 1.0, 1.0), intensity=20.0, revert_dir=False, @@ -533,9 +565,9 @@ def add_camera( @gs.assert_unbuilt def add_emitter( self, - material, + material: Material, max_particles=20000, - surface=None, + surface: Surface | None = None, ): """ Add a fluid emitter to the scene. @@ -579,7 +611,7 @@ def add_emitter( return emitter @gs.assert_unbuilt - def add_force_field(self, force_field: gs.force_fields.ForceField): + def add_force_field(self, force_field: ForceField): """ Add a force field to the scene. @@ -602,7 +634,7 @@ def build( self, n_envs=0, env_spacing=(0.0, 0.0), - n_envs_per_row=None, + n_envs_per_row: int | None = None, center_envs_at_origin=True, compile_kernels=True, ): @@ -626,7 +658,8 @@ def build( self._parallelize(n_envs, env_spacing, n_envs_per_row, center_envs_at_origin) # simulator - self._sim.build() + with open(os.devnull, "w") as stderr, redirect_libc_stderr(stderr): + self._sim.build() # reset state self._reset() @@ -642,17 +675,17 @@ def build( with gs.logger.timer("Building visualizer..."): self._visualizer.build() - if self._show_FPS: - self.FPS_tracker = FPSTracker(self.n_envs) + if self.profiling_options.show_FPS: + self.FPS_tracker = FPSTracker(self.n_envs, alpha=self.profiling_options.FPS_tracker_alpha) gs.global_scene_list.add(self) def _parallelize( self, - n_envs, - env_spacing, - n_envs_per_row, - center_envs_at_origin, + n_envs: int, + env_spacing: tuple[float, float], + n_envs_per_row: int, + center_envs_at_origin: bool, ): self.n_envs = n_envs self.env_spacing = env_spacing @@ -698,7 +731,7 @@ def _parallelize( self._para_level = gs.PARA_LEVEL.ALL @gs.assert_built - def reset(self, state=None, envs_idx=None): + def reset(self, state: dict | None = None, envs_idx=None): """ Resets the scene to its initial state. @@ -764,7 +797,7 @@ def step(self, update_visualizer=True, refresh_visualizer=True): if update_visualizer: self._visualizer.update(force=False, auto=refresh_visualizer) - if self._show_FPS: + if self.profiling_options.show_FPS: self.FPS_tracker.step() def _step_grad(self): @@ -1023,19 +1056,18 @@ def draw_debug_path(self, qposs, entity, link_idx=-1, density=0.3, frame_scaling indices = torch.linspace(0, N - 2, N_new, dtype=int) Ts = np.zeros((N_new, 4, 4)) - for i in range(N_new): pos, quat = entity.forward_kinematics(qposs[indices[i]]) - Ts[i] = gu.trans_quat_to_T(pos[link_idx], quat[link_idx]) + Ts[i] = tensor_to_array(gu.trans_quat_to_T(pos[link_idx], quat[link_idx])) return self._visualizer.context.draw_debug_frames( Ts, axis_length=frame_scaling * 0.1, origin_size=0.001, axis_radius=frame_scaling * 0.005 ) @gs.assert_built - def batch_render(self, force_render=False): + def render_all_cams(self, force_render=False): """ - Render the scene using the batch renderer. + Render the scene for all cameras using the batch renderer. """ return self._visualizer.batch_renderer.render(force_render=force_render) @@ -1108,7 +1140,8 @@ def is_built(self): @property def show_FPS(self): """Whether to print the frames per second (FPS) in the terminal.""" - return self._show_FPS + warn_once("Scene.show_FPS is deprecated. Please use profiling_options.show_FPS") + return self.profiling_options.show_FPS @property def gravity(self): diff --git a/genesis/options/vis.py b/genesis/options/vis.py index 1cdb373b8..ce12d54c9 100644 --- a/genesis/options/vis.py +++ b/genesis/options/vis.py @@ -120,6 +120,7 @@ class VisOptions(Options): lights: list = [ {"type": "directional", "dir": (-1, -1, -1), "color": (1.0, 1.0, 1.0), "intensity": 5.0}, ] + def __init__(self, **data): super().__init__(**data) diff --git a/genesis/utils/geom.py b/genesis/utils/geom.py index 4563e979a..f6efb3fe7 100644 --- a/genesis/utils/geom.py +++ b/genesis/utils/geom.py @@ -702,15 +702,9 @@ def T_to_quat(T): Quaternion batch of shape (..., 4) """ if isinstance(T, torch.Tensor): - start_time = time.time() R = T[..., :3, :3].contiguous() - checkpoint_1 = time.time() quat = torch.empty((R.shape[0], 4), dtype=R.dtype, device=R.device) kernel_R_to_quat(R, quat) # Pass both as tensors - checkpoint_2 = time.time() - print(f"Time taken: {(checkpoint_2 - start_time) * 1000:.2f} ms") - print(f"T_to_quat.checkpoint_1: {(checkpoint_1 - start_time) * 1000:.2f} ms") - print(f"T_to_quat.checkpoint_2: {(checkpoint_2 - checkpoint_1) * 1000:.2f} ms") return quat else: gs.raise_exception(f"the input must be torch.Tensor. got: {type(T)=}") diff --git a/genesis/utils/image_exporter.py b/genesis/utils/image_exporter.py index 99e14bf03..daea24c58 100644 --- a/genesis/utils/image_exporter.py +++ b/genesis/utils/image_exporter.py @@ -56,9 +56,9 @@ def _normalize_depth(self, depth): def _get_camera_name(self, i_cam): return 'cam' + str(i_cam) - def export_frame_batch_cam(self, i_step, camera_idx=None, rgb=None, depth=None): + def export_frame_all_cams(self, i_step, camera_idx=None, rgb=None, depth=None): """ - Export frames for a batch of environments and cameras. + Export frames for all cameras. Args: i_step: The current step index. @@ -67,15 +67,20 @@ def export_frame_batch_cam(self, i_step, camera_idx=None, rgb=None, depth=None): depth: Depth tensor of shape (n_envs, n_cams, H, W). """ + if rgb.ndim == 4: + rgb = rgb.unsqueeze(0) + if depth.ndim == 4: + depth = depth.unsqueeze(0) assert rgb.ndim == 5 and depth.ndim == 5, "rgb and depth must be of shape (n_envs, n_cams, H, W, 3)" if camera_idx is None: camera_idx = range(rgb.shape[1]) + env_idx = range(rgb.shape[0]) depth_normalized = self._normalize_depth(depth) if depth is not None else None args_list = [(self.export_dir, i_env, i_cam, self._get_camera_name(i_cam), rgb, depth_normalized, i_step) - for i_env in range(rgb.shape[0]) for i_cam in camera_idx] + for i_env in env_idx for i_cam in camera_idx] with ThreadPoolExecutor() as executor: executor.map(FrameImageExporter._worker_export_frame_cam, args_list) @@ -105,14 +110,16 @@ def export_frame_single_cam(self, i_step, i_cam, rgb=None, depth=None): if depth.ndim == 4: depth = depth.unsqueeze(1) - elif depth.ndim == 2: - depth = depth.unsqueeze(0).unsqueeze(0).unsqueeze(4) + elif depth.ndim == 3: + depth = depth.unsqueeze(0).unsqueeze(0) else: raise ValueError(f"Invalid depth shape: {depth.shape}") + assert rgb.ndim == 5 and depth.ndim == 5, "rgb and depth must be of shape (n_envs, n_cams, H, W, 3)" + env_idx = range(rgb.shape[0]) depth_normalized = self._normalize_depth(depth) if depth is not None else None args_list = [(self.export_dir, i_env, 0, self._get_camera_name(i_cam), rgb, depth_normalized, i_step) - for i_env in range(rgb.shape[0])] + for i_env in env_idx] with ThreadPoolExecutor() as executor: executor.map(FrameImageExporter._worker_export_frame_cam, args_list) diff --git a/genesis/vis/batch_renderer.py b/genesis/vis/batch_renderer.py index 194995581..abe8035bb 100644 --- a/genesis/vis/batch_renderer.py +++ b/genesis/vis/batch_renderer.py @@ -131,8 +131,9 @@ def render(self, rgb=True, depth=False, segmentation=False, normal=False, force_ """ if(not force_render and self._last_t == self._visualizer.scene.t): return self._rgb_torch, self._depth_torch, None, None - self._last_t = self._visualizer.scene.t # Update last_t to current time to avoid re-rendering if the scene is not updated + # Update last_t to current time to avoid re-rendering if the scene is not updated + self._last_t = self._visualizer.scene.t self.update_scene() rigid = self._visualizer.scene.rigid_solver @@ -144,6 +145,11 @@ def render(self, rgb=True, depth=False, segmentation=False, normal=False, force_ camera_pos, camera_quat, ) + + # Squeeze the first dimension of the output if n_envs == 0 + if self._visualizer.scene.n_envs == 0: + self._rgb_torch = self._rgb_torch.squeeze(0) + self._depth_torch = self._depth_torch.squeeze(0) return self._rgb_torch, self._depth_torch, None, None def destroy(self): diff --git a/genesis/vis/camera.py b/genesis/vis/camera.py index 3162a6fab..f288610ee 100644 --- a/genesis/vis/camera.py +++ b/genesis/vis/camera.py @@ -10,6 +10,7 @@ import genesis.utils.geom as gu from genesis.repr_base import RBC + class Camera(RBC): """ Genesis camera class. The camera can be used to render RGB, depth, and segmentation images. The camera can use either rasterizer or raytracer for rendering, specified by `scene.renderer`. @@ -185,16 +186,17 @@ def _batch_render(self, rgb=True, depth=False, segmentation=False, colorize_seg= assert self._visualizer._use_batch_renderer, "Batch renderer is not enabled." rgb_arr, depth_arr, seg_arr, normal_arr = self._batch_renderer.render(rgb, depth) - # The first dimension of the output is env. The second dimension of the array is camera. + # If n_envs > 0, the first dimension of the output is env. The second dimension of the array is camera. + # If n_envs == 0, the first dimension of the output is camera. # Only return the current camera's image if rgb_arr is not None: - rgb_arr = rgb_arr[:, self._idx] + rgb_arr = rgb_arr[:, self._idx] if rgb_arr.ndim == 5 else rgb_arr[self._idx] if depth_arr is not None: - depth_arr = depth_arr[:, self._idx] + depth_arr = depth_arr[:, self._idx] if depth_arr.ndim == 5 else depth_arr[self._idx] if seg_arr is not None: - seg_arr = seg_arr[:, self._idx] + seg_arr = seg_arr[:, self._idx] if seg_arr.ndim == 5 else seg_arr[self._idx] if normal_arr is not None: - normal_arr = normal_arr[:, self._idx] + normal_arr = normal_arr[:, self._idx] if normal_arr.ndim == 5 else normal_arr[self._idx] return rgb_arr, depth_arr, seg_arr, normal_arr @gs.assert_built @@ -231,14 +233,14 @@ def render(self, rgb=True, depth=False, segmentation=False, colorize_seg=False, if (rgb or depth or segmentation or normal) is False: gs.raise_exception("Nothing to render.") - if self._visualizer._use_batch_renderer: - return self._batch_render(rgb, depth, segmentation, colorize_seg, normal) - rgb_arr, depth_arr, seg_idxc_arr, seg_arr, normal_arr = None, None, None, None, None if self._followed_entity is not None: self.update_following() + if self._visualizer._use_batch_renderer: + return self._batch_render(rgb, depth, segmentation, colorize_seg, normal) + if self._raytracer is not None: if rgb: self._raytracer.update_scene() @@ -569,6 +571,7 @@ def update_following(self): camera_transform = self._multi_env_transform_tensor lookat_pos = self._multi_env_lookat_tensor + # TODO: Optimize with batch computation for env_idx in range(self.n_envs): if self._follow_smoothing is not None: # Smooth camera movement with a low-pass filter diff --git a/genesis/vis/visualizer.py b/genesis/vis/visualizer.py index 0274a1d5c..03cb3f801 100644 --- a/genesis/vis/visualizer.py +++ b/genesis/vis/visualizer.py @@ -20,6 +20,7 @@ def __enter__(self): def __exit__(self, exc_type, exc_value, traceback): pass + class Visualizer(RBC): """ This abstraction layer manages viewer and renderers. @@ -128,7 +129,6 @@ def add_camera(self, res, pos, lookat, up, model, fov, aperture, focus_dist, GUI camera = Camera( self, len(self._cameras), model, res, pos, lookat, up, fov, aperture, focus_dist, GUI, spp, denoise ) - self._cameras.append(camera) return camera