[BUG FIX] Various minor bug fixes.

.github/workflows/format.yml

@@ -1,4 +1,4 @@
-name: Lint and Format
+name: Precommit Checks (Lint and Format)
 
 on:
   pull_request:
@@ -12,15 +12,15 @@ concurrency:
 jobs:
   pre-commit:
     runs-on: ubuntu-24.04
-    name: ubuntu-24.04-3.12-examples
+    name: precommit-checks
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
 
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: '3.11' # Update to your project's version
+          python-version: '3.12'
 
       - name: Run pre-commit hooks
         uses: pre-commit/[email protected]

.github/workflows/production.yml

@@ -45,7 +45,8 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
-      - name: Start container
+
+      - name: Spawn Slurm job
         if: github.event_name == 'pull_request'
         run: |
           SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)"
@@ -74,14 +75,10 @@ jobs:
 
           echo "SLURM_JOB_NAME=${SLURM_JOB_NAME}" >> $GITHUB_ENV
           echo "SRUN_COMMON=${SRUN_COMMON}" >> "$GITHUB_ENV"
-
-      - name: Build
+      - name: Initialize Python virtual env
         if: github.event_name == 'pull_request'
-        run: |
-          srun ${SRUN_COMMON} \
-               bash .github/workflows/scripts/production_build.sh
-
-      - name: Run benchmarks
+        run: srun ${SRUN_COMMON} bash .github/workflows/scripts/production_build.sh
+      - name: Run unit tests
         if: github.event_name == 'pull_request'
         run: |
           srun ${SRUN_COMMON} bash -e -s <<'EOF'
@@ -97,8 +94,7 @@ jobs:
 
             # tmate -S /tmp/tmate.sock wait tmate-exit
           EOF
-
-      - name: Kill srun job systematically
+      - name: Kill Slurm job
         if: always()
         run: |
           if [ -n "${SLURM_JOB_NAME}" ] ; then
@@ -127,7 +123,8 @@ jobs:
           # Checkout full history is required to shallow cloning while mark HEAD as "grafted". This breaks remote
           # tracking thereby making it impossible to detect whether a commit is contained in upstream main.
           fetch-depth: 0
-      - name: Start container
+
+      - name: Spawn Slurm job
         run: |
           SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)"
           CONTAINER_NAME="${SLURM_JOB_NAME}"
@@ -158,12 +155,8 @@ jobs:
 
           echo "SLURM_JOB_NAME=${SLURM_JOB_NAME}" >> $GITHUB_ENV
           echo "SRUN_COMMON=${SRUN_COMMON}" >> "$GITHUB_ENV"
-
-      - name: Build
-        run: |
-          srun ${SRUN_COMMON} \
-               bash .github/workflows/scripts/production_build.sh
-
+      - name: Initialize Python virtual env
+        run: srun ${SRUN_COMMON} bash .github/workflows/scripts/production_build.sh
       - name: Run benchmarks
         run: |
           srun ${SRUN_COMMON} bash -e -s <<'EOF'
@@ -172,13 +165,13 @@ jobs:
                    --print -x -m "benchmarks" ./tests
             cat speed_test*.txt > "/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt"
           EOF
-
-      - name: Kill srun job systematically
+      - name: Kill Slurm job
         if: always()
         run: |
           if [ -n "${SLURM_JOB_NAME}" ] ; then
             scancel --user=${USER} --name="${SLURM_JOB_NAME}"
           fi
+
       - name: Display benchmark stats
         run: |
           cat "/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt"

examples/tutorials/visualization.py

@@ -6,7 +6,7 @@
 
 scene = gs.Scene(
     viewer_options=gs.options.ViewerOptions(
-        res=(1280, 960),
+        res=(1280, 960) if "PYTEST_VERSION" not in os.environ else (64, 64),
         camera_pos=(3.5, 0.0, 2.5),
         camera_lookat=(0.0, 0.0, 0.5),
         camera_fov=40,
@@ -47,8 +47,8 @@
 
 cam.start_recording()
 
-horizon = 120 if "PYTEST_VERSION" not in os.environ else 5
-for i in range(120):
+horizon = 120 if "PYTEST_VERSION" not in os.environ else 1
+for i in range(horizon):
     scene.step()
     cam.set_pose(
         pos=(3.0 * math.sin(i / 60), 3.0 * math.cos(i / 60), 2.5),

genesis/engine/couplers/sap_coupler.py

@@ -854,6 +854,7 @@ def update_batch_active(self):
             norm_thr = self._sap_convergence_atol + self._sap_convergence_rtol * ti.max(
                 self.sap_state[i_b].momentum_norm, self.sap_state[i_b].impulse_norm
             )
+            self.batch_active[i_b] = self.sap_state[i_b].gradient_norm >= norm_thr
 
     @ti.kernel
     def compute_regularization(

genesis/engine/solvers/rigid/rigid_solver_decomp.py

@@ -2877,8 +2877,9 @@ def kernel_init_meaninertia(
             for i_e in range(n_entities):
                 for i_d in range(entities_info.dof_start[i_e], entities_info.dof_end[i_e]):
                     I_d = [i_d, i_b] if ti.static(static_rigid_sim_config.batch_dofs_info) else i_d
-                    # FIXME: this atomic is not necessary but for some reason it improves performance in our benchmarks
-                    ti.atomic_add(rigid_global_info.meaninertia[i_b], rigid_global_info.mass_mat[i_d, i_d, i_b])
+                    rigid_global_info.meaninertia[i_b] = (
+                        rigid_global_info.meaninertia[i_b] + rigid_global_info.mass_mat[i_d, i_d, i_b]
+                    )
                 rigid_global_info.meaninertia[i_b] = rigid_global_info.meaninertia[i_b] / n_dofs
         else:
             rigid_global_info.meaninertia[i_b] = 1.0

genesis/ext/pyrender/renderer.py

@@ -355,7 +355,7 @@ def _floor_pass(self, scene, flags, seg_node_map=None, env_idx=-1):
         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
 
         V, P = self._get_camera_matrices(scene, env_idx)
-        cam_pose = self._get_camera_pose(scene, env_idx)[:3, 3]
+        cam_pos = self._get_camera_pose(scene, env_idx)[:3, 3]
 
         screen_size = np.array([self.viewport_width, self.viewport_height], np.float32)
 

genesis/utils/image_exporter.py

@@ -53,7 +53,7 @@ def as_grayscale_image(
     # Normalize values between 0.0 and 1.0
     data_delta = data_max - data_min
     data_rel = data_float - data_min if black_to_white else data_max - data_float
-    data_normalized = np.divide(data_max - data_float, data_delta, where=data_delta > gs.EPS)
+    data_normalized = np.divide(data_rel, data_delta, where=data_delta > gs.EPS)
 
     # Discretize as unsigned int8
     return (data_normalized * 255.0).astype(np.uint8)

tests/test_examples.py

@@ -24,7 +24,6 @@
 IGNORE_SCRIPT_NAMES = {
     "ddp_multi_gpu.py",
     "multi_gpu.py",
-    "visualization.py",  # FIXME: Flaky because of possibly undefined shadow map when running in thread
     "single_franka_batch_render.py",  # FIXME: segfault on exit
     "fem_cube_linked_with_arm.py",  # FIXME: segfault on exit (corrupted double-linked list)
 }
@@ -33,7 +32,7 @@
         "cut_dragon.py",
     }
 
-TIMEOUT = 500.0
+TIMEOUT = 600.0
 
 
 pytestmark = [

tests/test_rigid_physics.py

@@ -2207,7 +2207,7 @@ def test_nan_reset(gs_sim, mode):
     ],
 )
 @pytest.mark.parametrize("is_named", [True, False])
-def test_terrain_generation(is_named, show_viewer):
+def test_terrain_generation(is_named, show_viewer, tol):
     TERRAIN_PATTERN = [
         ["flat_terrain", "flat_terrain", "flat_terrain", "flat_terrain", "flat_terrain"],
         ["flat_terrain", "fractal_terrain", "random_uniform_terrain", "sloped_terrain", "flat_terrain"],
@@ -2287,7 +2287,7 @@ def test_terrain_generation(is_named, show_viewer):
         scene = gs.Scene()
         terrain_2 = scene.add_entity(gs.morphs.Terrain(**{**terrain_kwargs, **dict(randomize=True)}))
         terrain_2_mesh = terrain_2.geoms[0].mesh
-        assert_allclose(terrain_mesh.verts, terrain_2_mesh.verts, tol=gs.EPS)
+        assert_allclose(terrain_mesh.verts, terrain_2_mesh.verts, tol=tol)
 
 
 @pytest.mark.required

tests/utils.py

@@ -36,7 +36,7 @@
 DEFAULT_BRANCH_NAME = "main"
 
 HUGGINGFACE_ASSETS_REVISION = "701f78c1465f0a98f6540bae6c9daacaa551b7bf"
-HUGGINGFACE_SNAPSHOT_REVISION = "f13f28423a8961072832ead74df5d5703e01923e"
+HUGGINGFACE_SNAPSHOT_REVISION = "17d79e7627479ef836524d14449e2fdc4282973d"
 
 MESH_EXTENSIONS = (".mtl", *MESH_FORMATS, *GLTF_FORMATS, *USD_FORMATS)
 IMAGE_EXTENSIONS = (".png", ".jpg")