[MISC] Fix W&B benchmark timestamp logging. (#1892)

* Fix W&B benchmark timestamp logging.
* Remove all non-ascii characters in engine submodule.

Author: duburcqa

.github/workflows/generic.yml

@@ -136,7 +136,7 @@ jobs:
           OS_FAMILY=$(python -c "import platform; print(platform.system())")
           MACHINE_ARCH=$(python -c "import platform; print(platform.machine())")
           GSTAICHI_VERSION=$(python -c "import importlib.metadata ; print(importlib.metadata.version('gstaichi'))")
-          echo "ARTIFACT_PREFIX=${OS_FAMILY}-${MACHINE_ARCH}-${GSTAICHI_VERSION}-${{ matrix.GS_BACKEND }}-${{ matrix.GS_USE_NDARRAY }}" >> $GITHUB_OUTPUT
+          echo "ARTIFACT_PREFIX=${OS_FAMILY}-${MACHINE_ARCH}-${GSTAICHI_VERSION}-${{ matrix.GS_BACKEND }}-${{ matrix.GS_ENABLE_NDARRAY }}" >> $GITHUB_OUTPUT
 
       - name: Restore Taichi Kernel Cache
         if: always()
@@ -153,7 +153,10 @@ jobs:
 
       - name: Save Updated Taichi Kernel Cache
         # lets match this version to the black format check
-        if: ${{ always() && (matrix.OS == 'ubuntu-24.04' || matrix.OS == 'macos-15' || matrix.OS == 'windows-2025') && matrix.PYTHON_VERSION == '3.12' }}
+        if: >-
+          ${{ always() &&
+              (matrix.OS == 'ubuntu-24.04' || matrix.OS == 'macos-15' || matrix.OS == 'windows-2025') &&
+              matrix.PYTHON_VERSION == '3.12' }}
         uses: actions/cache/save@v4
         with:
           path: .cache

genesis/engine/entities/particle_entity.py

@@ -49,7 +49,7 @@ class ParticleEntity(Entity):
     idx : int
         Index of this entity in the simulation.
     particle_start : int
-        Global index offset for this entity’s particles in the solver.
+        Global index offset for this entity's particles in the solver.
     vvert_start : int, optional
         Global index offset for vertex-based rendering, used for skinning.
     vface_start : int, optional

genesis/engine/entities/rigid_entity/rigid_entity.py

@@ -854,7 +854,7 @@ def get_jacobian(self, link, local_point=None):
         link : RigidLink
             The target link.
         local_point : torch.Tensor or None, shape (3,)
-            Coordinates of the point in the link’s *local* frame.
+            Coordinates of the point in the link's *local* frame.
             If None, the link origin is used (back-compat).
 
         Returns

genesis/engine/materials/PBD/liquid.py

@@ -13,7 +13,7 @@ class Liquid(Base):
     Parameters
     ----------
     rho: float, optional
-        The rest density of the fluid in kg/m³. Default is 1000.0.
+        The rest density of the fluid in kg/m^3. Default is 1000.0.
     sampler: str, optional
         Particle sampler ('pbs', 'regular', 'random'). Note that 'pbs' is only supported on Linux for now. Defaults to
         'pbs' on supported platforms, 'random' otherwise.
@@ -44,7 +44,7 @@ def __init__(
 
     @property
     def rho(self):
-        """The rest density of the fluid (kg/m³)."""
+        """The rest density of the fluid (kg/m^3)."""
         return self._rho
 
     @property

genesis/engine/materials/SPH/liquid.py

@@ -13,15 +13,15 @@ class Liquid(Base):
     Parameters
     ----------
     rho: float, optional
-        The density (kg/m^3) the material tends to maintain in equilibrium (i.e., the “rest” or undeformed state). Default is 1000.
+        The density (kg/m^3) the material tends to maintain in equilibrium (i.e., the "rest" or undeformed state). Default is 1000.
     stiffness: float, optional
         State stiffness (N/m^2). A material constant controlling how pressure increases with compression. Default is 50000.0.
     exponent: float, optional
         State exponent. Controls how nonlinearly pressure scales with density. Larger values mean stiffer response to compression. Default is 7.0.
     mu: float, optional
         The viscosity of the liquid. A measure of the internal friction of the fluid or material. Default is 0.005
     gamma: float, optional
-        The surface tension of the liquid. Controls how strongly the material “clumps” together at boundaries. Default is 0.01
+        The surface tension of the liquid. Controls how strongly the material "clumps" together at boundaries. Default is 0.01
     sampler: str, optional
         Particle sampler ('pbs', 'regular', 'random'). Note that 'pbs' is only supported on Linux for now. Defaults to
         'pbs' on supported platforms, 'random' otherwise.
@@ -49,7 +49,7 @@ def __init__(
 
     @property
     def rho(self):
-        """The density (kg/m^3) the material tends to maintain in equilibrium (i.e., the “rest” or undeformed state)."""
+        """The density (kg/m^3) the material tends to maintain in equilibrium (i.e., the "rest" or undeformed state)."""
         return self._rho
 
     @property
@@ -69,5 +69,5 @@ def mu(self):
 
     @property
     def gamma(self):
-        """The surface tension of the liquid. Controls how strongly the material “clumps” together at boundaries."""
+        """The surface tension of the liquid. Controls how strongly the material "clumps" together at boundaries."""
         return self._gamma

genesis/engine/scene.py

@@ -1313,7 +1313,7 @@ def dump_ckpt_to_numpy(self) -> dict[str, np.ndarray]:
         Returns
         -------
         dict[str, np.ndarray]
-            Mapping ``"Class.attr[.member]" → array`` with raw field data.
+            Mapping ``"Class.attr[.member]" -> array`` with raw field data.
         """
         arrays: dict[str, np.ndarray] = {}
 

genesis/engine/sensors/raycaster.py

@@ -39,7 +39,7 @@
 @ti.func
 def ray_triangle_intersection(ray_start, ray_dir, v0, v1, v2):
     """
-    Möller-Trumbore ray-triangle intersection.
+    Moller-Trumbore ray-triangle intersection.
 
     Returns: vec4(t, u, v, hit) where hit=1.0 if intersection found, 0.0 otherwise
     """

genesis/engine/solvers/base_solver.py

@@ -70,7 +70,7 @@ def dump_ckpt_to_numpy(self) -> dict[str, np.ndarray]:
             key_base = ".".join((self.__class__.__name__, attr_name))
             data = value.to_numpy()
 
-            # StructField → data is a dict: flatten each member
+            # StructField -> data is a dict: flatten each member
             if isinstance(data, dict):
                 for sub_name, sub_arr in data.items():
                     arrays[f"{key_base}.{sub_name}"] = sub_arr

genesis/engine/solvers/fem_solver.py

@@ -307,7 +307,6 @@ def init_constraints(self):
             target_pos=gs.ti_vec3,  # target position for the constraint
             is_soft_constraint=gs.ti_bool,  # use spring for soft constraints
             stiffness=gs.ti_float,  # spring stiffness
-            damping=gs.ti_float,  # spring damping
             link_idx=gs.ti_int,  # index of the rigid link (-1 if not linked)
             link_offset_pos=gs.ti_vec3,  # offset position of link
             link_init_quat=gs.ti_vec4,  # offset rotation of link

genesis/engine/solvers/rigid/backward_constraint_solver.py

@@ -60,8 +60,8 @@ def kernel_solve_adjoint_u(
     static_rigid_sim_config: ti.template(),
 ):
     r"""
-    Solve for the adjoint vector [u] from Au = g, where A = ∂F/∂qacc (primal Hessian on the active set) and g = ∂L/∂qacc.
-    Intuitively, [u] is a sensitivity vector that translates the upstream gradient ∂L/∂qacc into the primal space.
+    Solve for the adjoint vector [u] from Au = g, where A = dF/dqacc (primal Hessian on the active set) and g = dL/dqacc.
+    Intuitively, [u] is a sensitivity vector that translates the upstream gradient dL/dqacc into the primal space.
     This adjoint vector [u] can be used an intermediate variable to compute the downstream gradients. Since A is a
     Semi-Positive Definite (SPD) matrix, we can solve A * u = g using either Cholesky decomposition or CG solver.
     When Newton solver was used, we reuse the Cholesky decomposition of A (= L * L^T) to solve A * u = g. Otherwise,