Merge origin/main into ipc-coupling-squashed

Resolved conflicts:
- genesis/engine/solvers/rigid/rigid_solver_decomp.py
  * Updated substep() calls to include 'f' parameter (from origin/main)
  * Kept IPC coupling strategy dispatch logic (from HEAD)
  * Combined both changes for proper IPC two_way_soft_constraint support

Author: Roushelfy

.github/workflows/alarm.yml

@@ -474,9 +474,8 @@ jobs:
             }
 
             const title = (process.env.HAS_REGRESSIONS || '0') === '1'
-              ? 'Benchmark Regression Detected' : 'Abnormal Benchmark Result Detected';
-            const comment = `:warning: **${title}**
-            ➡️  **[Report](${process.env.REPORT_URL})**`;
+              ? '🔴 Benchmark Regression Detected' : '⚠️ Abnormal Benchmark Result Detected';
+            const comment = `**${title} ➡️ [Report](${process.env.REPORT_URL})**`;
 
             await github.rest.issues.createComment({
               owner: context.repo.owner,

.github/workflows/generic.yml

@@ -130,7 +130,7 @@ jobs:
           pip3 install torch --index-url https://download.pytorch.org/whl/cpu
 
       - name: Black Format Check
-        if: matrix.OS == 'ubuntu-24.04' && matrix.PYTHON_VERSION == '3.12'
+        if: ${{ matrix.OS == 'ubuntu-24.04' && matrix.PYTHON_VERSION == '3.12' && matrix.GS_BACKEND == 'cpu' && matrix.GS_ENABLE_NDARRAY == '1' }}
         run: |
           pip install black
           black --line-length 120 --check .

examples/collision/tower.py

@@ -1,4 +1,5 @@
 import argparse
+import os
 
 import genesis as gs
 
@@ -9,12 +10,13 @@ def main():
     parser.add_argument("-v", "--vis", action="store_true", default=False)
     args = parser.parse_args()
     object_type = args.object
+    horizon = 50 if "PYTEST_VERSION" in os.environ else 1000
 
     gs.init(backend=gs.cpu, precision="32")
 
     scene = gs.Scene(
         sim_options=gs.options.SimOptions(
-            dt=0.005,
+            dt=0.004,
         ),
         rigid_options=gs.options.RigidOptions(
             max_collision_pairs=200,
@@ -27,7 +29,7 @@ def main():
         show_viewer=args.vis,
     )
 
-    plane = scene.add_entity(gs.morphs.Plane())
+    scene.add_entity(gs.morphs.Plane())
 
     # create pyramid of boxes
     box_width, box_length, box_height = 0.25, 2.0, 0.1
@@ -51,12 +53,12 @@ def main():
 
     # Drop a huge mesh
     if object_type == "duck":
-        duck_scale = 1.0
-        duck = scene.add_entity(
+        duck_scale = 0.8
+        scene.add_entity(
             morph=gs.morphs.Mesh(
                 file="meshes/duck.obj",
                 scale=duck_scale,
-                pos=(0, 0, num_stacks * box_height + 10 * duck_scale),
+                pos=(0, -0.1, num_stacks * box_height + 10 * duck_scale),
             ),
         )
     elif object_type == "sphere":
@@ -78,7 +80,7 @@ def main():
         )
 
     scene.build()
-    for i in range(600):
+    for i in range(horizon):
         scene.step()
 
 

examples/coupling/cut_dragon.py

@@ -1,7 +1,5 @@
+import os
 import argparse
-
-import numpy as np
-
 import genesis as gs
 
 
@@ -32,45 +30,45 @@ def main():
             camera_fov=35,
             max_FPS=120,
         ),
-        show_viewer=args.vis,
         vis_options=gs.options.VisOptions(
             visualize_mpm_boundary=True,
             # rendered_envs_idx=[2],
         ),
+        show_viewer=args.vis,
     )
 
     plane = scene.add_entity(
-        material=gs.materials.Rigid(),
         morph=gs.morphs.URDF(file="urdf/plane/plane.urdf", fixed=True),
+        material=gs.materials.Rigid(),
     )
     cutter = scene.add_entity(
         morph=gs.morphs.Mesh(
             file="meshes/cross_cutter.obj",
-            euler=(90, 0, 0),
             scale=0.8,
             pos=(0.0, 0.0, 0.3),
+            euler=(90, 0, 0),
             fixed=True,
             convexify=False,
         ),
         surface=gs.surfaces.Iron(),
     )
     dragon = scene.add_entity(
-        material=gs.materials.MPM.Elastic(sampler="pbs-64"),
         morph=gs.morphs.Mesh(
             file="meshes/dragon/dragon.obj",
             scale=0.007,
             euler=(0, 0, 90),
             pos=(0.3, -0.0, 1.3),
         ),
+        material=gs.materials.MPM.Elastic(sampler="pbs-64"),
         surface=gs.surfaces.Rough(
             color=(0.6, 1.0, 0.8, 1.0),
             vis_mode="particle",
         ),
     )
     scene.build(n_envs=2)
 
-    horizon = 400
-    for i in range(horizon):
+    horizon = 400 if "PYTEST_VERSION" not in os.environ else 5
+    for _ in range(horizon):
         scene.step()
 
 

examples/coupling/fem_cube_linked_with_arm.py

@@ -17,11 +17,9 @@ def main():
         "--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("-c", "--cpu", action="store_true", default=False)
+    parser.add_argument("-c", "--cpu", action="store_true", default="PYTEST_VERSION" in os.environ)
     args = parser.parse_args()
 
-    args.cpu = args.cpu if "PYTEST_VERSION" not in os.environ else True
-
     gs.init(backend=gs.cpu if args.cpu else gs.gpu, logging_level=None)
 
     if args.solver == "explicit":
@@ -115,10 +113,7 @@ def main():
 
         print("cube init pos", cube.init_positions)
         pin_idx = [1, 5]
-        cube.set_vertex_constraints(
-            verts_idx=pin_idx,
-            link=end_joint.link,
-        )
+        cube.set_vertex_constraints(verts_idx_local=pin_idx, link=end_joint.link)
         print("Cube initial positions:", cube.init_positions[pin_idx])
         scene.draw_debug_spheres(poss=cube.init_positions[pin_idx], radius=0.02, color=(1.0, 0.0, 1.0, 0.8))
 

examples/coupling/flush_cubes.py

@@ -1,7 +1,6 @@
+import os
 import argparse
-
 import numpy as np
-
 import genesis as gs
 
 
@@ -91,7 +90,7 @@ def main():
     )
     scene.build(n_envs=2)
 
-    horizon = 100
+    horizon = 100 if "PYTEST_VERSION" not in os.environ else 5
     for i in range(horizon):
         emitter1.emit(
             pos=np.array([0.16, -0.4, 0.5]),

examples/differentiable_push.py

@@ -1,4 +1,5 @@
 import argparse
+import os
 
 import torch
 
@@ -89,7 +90,7 @@ def main():
     scene.build(n_envs=2)
 
     ########################## forward + backward twice ##########################
-    horizon = 150
+    horizon = 150 if "PYTEST_VERSION" not in os.environ else 5
     v_list = [gs.tensor([[0.0, 1.0, 0.0], [0.0, 1.0, 0.0]], requires_grad=True) for _ in range(horizon)]
     for _ in range(2):
         scene.reset()

examples/fem_hard_and_soft_constraint.py

@@ -106,30 +106,19 @@ def get_next_circle_position():
     try:
         target_positions = blob.init_positions[pinned_idx]
         scene.draw_debug_spheres(poss=target_positions, radius=0.02, color=(1, 0, 1, 0.8))
-        blob.set_vertex_constraints(
-            verts_idx=pinned_idx,
-            target_poss=target_positions,
-            is_soft_constraint=True,
-            stiffness=1e4,
-        )
+        blob.set_vertex_constraints(pinned_idx, target_positions, is_soft_constraint=True, stiffness=1e4)
 
         target_positions = get_next_circle_position()
         debug_circle = scene.draw_debug_spheres(poss=target_positions, radius=0.02, color=(0, 1, 0, 0.8))
-        cube.set_vertex_constraints(
-            verts_idx=pinned_idx,
-            target_poss=target_positions,
-        )
+        cube.set_vertex_constraints(pinned_idx, target_positions)
 
         for step in tqdm(range(total_steps), total=total_steps):
             if debug_circle is not None:
                 scene.clear_debug_object(debug_circle)
 
             new_pos = get_next_circle_position()
             debug_circle = scene.draw_debug_spheres(poss=new_pos, radius=0.02, color=(0, 1, 0, 0.8))
-            cube.update_constraint_targets(
-                verts_idx=pinned_idx,
-                target_poss=new_pos,
-            )
+            cube.update_constraint_targets(pinned_idx, new_pos)
 
             scene.step()
 

examples/rendering/demo.py

@@ -151,10 +151,8 @@ def main():
         spp=512,
     )
     scene.build()
-
-    ########################## forward + backward twice ##########################
     scene.reset()
-    horizon = 2000
+    horizon = 10
 
     for i in range(horizon):
         scene.step()

examples/rendering/follow_entity.py

@@ -0,0 +1,49 @@
+import argparse
+
+import genesis as gs
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-f", "--fix", action="store_true", default=False)
+    args = parser.parse_args()
+
+    gs.init()
+
+    scene = gs.Scene(
+        vis_options=gs.options.VisOptions(
+            rendered_envs_idx=(0,),
+        ),
+        profiling_options=gs.options.ProfilingOptions(
+            show_FPS=False,
+        ),
+        show_viewer=False,
+    )
+    scene.add_entity(morph=gs.morphs.Plane())
+    cube = scene.add_entity(
+        gs.morphs.Box(
+            size=(0.1, 0.1, 0.1),
+            pos=(0.0, -0.9, 1.0),
+            euler=(15.0, 30.0, 60.0),
+        )
+    )
+
+    cam = scene.add_camera(
+        res=(640, 480),
+        pos=(2.0, 0.0, 1.5),
+        lookat=(0, 0, 0.7),
+        fov=40,
+        GUI=True,
+    )
+    cam.follow_entity(cube, fix_orientation=args.fix)
+
+    scene.build()
+
+    cube.set_dofs_velocity([0.0, 5.0, 0.0, 0.0, 0.0, 1.0])
+    for _ in range(100):
+        scene.step()
+        cam.render()
+
+
+if __name__ == "__main__":
+    main()