[misc] Add support of Linux ARM. (#1961)

Author: duburcqa

.github/workflows/generic.yml

@@ -31,6 +31,10 @@ jobs:
             PYTHON_VERSION: "3.12"
             GS_BACKEND: "cpu"
             GS_ENABLE_NDARRAY: "1"
+          - OS: "ubuntu-24.04-arm"
+            PYTHON_VERSION: "3.12"
+            GS_BACKEND: "cpu"
+            GS_ENABLE_NDARRAY: "1"
           - OS: "windows-2025"
             PYTHON_VERSION: "3.12"
             GS_BACKEND: "cpu"
@@ -40,6 +44,10 @@ jobs:
             PYTHON_VERSION: "3.12"
             GS_BACKEND: "cpu"
             GS_ENABLE_NDARRAY: "0"
+          - OS: "ubuntu-24.04-arm"
+            PYTHON_VERSION: "3.12"
+            GS_BACKEND: "cpu"
+            GS_ENABLE_NDARRAY: "0"
           - OS: "windows-2025"
             PYTHON_VERSION: "3.12"
             GS_BACKEND: "cpu"
@@ -126,8 +134,13 @@ jobs:
           black --line-length 120 --check .
 
       - name: Install Genesis
+        shell: bash
         run: |
-          pip install -e '.[dev]'
+          PYTHON_DEPS="dev"
+          if [[ "${{ matrix.OS }}" != 'ubuntu-24.04-arm' ]] ; then
+            PYTHON_DEPS="${PYTHON_DEPS},usd"
+          fi
+          pip install -e ".[${PYTHON_DEPS}]"
 
       - name: Get artifact prefix name
         id: artifact_prefix

genesis/engine/mesh.py

@@ -155,18 +155,7 @@ def tetrahedralize(self, tet_cfg):
         """
         Tetrahedralize the mesh.
         """
-        # Importing pyvista and tetgen are very slow and not used very often. Let's delay import.
-        import pyvista as pv
-        import tetgen
-
-        pv_obj = pv.PolyData(
-            self.verts, np.concatenate([np.full((self.faces.shape[0], 1), self.faces.shape[1]), self.faces], axis=1)
-        )
-        tet = tetgen.TetGen(pv_obj)
-        switches = mu.make_tetgen_switches(tet_cfg)
-        verts, elems = tet.tetrahedralize(switches=switches)
-        # visualize_tet(tet, pv_obj, show_surface=False, plot_cell_qual=False)
-        return verts, elems
+        return mu.tetrahedralize_mesh(self._mesh, tet_cfg)
 
     def particlize(
         self,

genesis/ext/pyrender/viewer.py

@@ -9,7 +9,6 @@
 from threading import Event, RLock, Semaphore, Thread
 from typing import Optional, TYPE_CHECKING
 
-import cv2
 import numpy as np
 import OpenGL
 from OpenGL.GL import *
@@ -1107,6 +1106,9 @@ def _get_save_filename(self, file_exts):
         return filename
 
     def _save_image(self):
+        # Postpone import of OpenCV at runtime to reduce hard system dependencies
+        import cv2
+
         filename = self._get_save_filename(["png", "jpg", "gif", "all"])
         if filename is not None:
             self.viewer_flags["save_directory"] = os.path.dirname(filename)

genesis/utils/image_exporter.py

@@ -3,7 +3,6 @@
 from concurrent.futures import ThreadPoolExecutor, Executor
 from functools import partial
 
-import cv2
 import torch
 import numpy as np
 
@@ -168,6 +167,9 @@ def export_frame_single_camera(
             Executor to which I/O bounded jobs (saving to PNG) will be submitted. A local executor will be instantiated
             if none is provided.
         """
+        # Postpone import of OpenCV at runtime to reduce hard system dependencies
+        import cv2
+
         # Pack frames data for convenience
         frame_data = (rgb, depth, segmentation, normal)
 

genesis/utils/mesh.py

@@ -4,6 +4,7 @@
 import math
 import os
 import pickle as pkl
+import platform
 from itertools import chain
 from functools import lru_cache
 from pathlib import Path
@@ -981,6 +982,9 @@ def make_tetgen_switches(cfg):
 
 
 def tetrahedralize_mesh(mesh, tet_cfg):
+    if platform.machine() == "aarch64":
+        gs.raise_exception("This method is not support on Linux ARM because 'tetgen' module is crashing.")
+
     # Importing pyvista and tetgen are very slow to import and not used very often. Let's delay import.
     import pyvista as pv
     import tetgen

genesis/utils/misc.py

@@ -183,7 +183,8 @@ def get_platform():
 
 def get_device(backend: gs_backend, device_idx: Optional[int] = None):
     if backend == gs_backend.cpu:
-        device_name = cpuinfo.get_cpu_info()["brand_raw"]
+        cpu_info = cpuinfo.get_cpu_info()
+        device_name = next(filter(None, map(cpu_info.get, ("brand_raw", "hardware_raw", "vendor_id_raw"))))
         total_mem = psutil.virtual_memory().total / 1024**3
         device = torch.device("cpu", device_idx)
     elif backend == gs_backend.cuda:

genesis/utils/particle.py

@@ -1,5 +1,6 @@
 import os
 import pickle as pkl
+import platform
 import subprocess
 import sys
 import shutil
@@ -83,8 +84,8 @@ def trimesh_to_particles_pbs(mesh, p_size, sampler, pos=(0, 0, 0)):
     """
     assert "pbs" in sampler
 
-    if gs.platform != "Linux":
-        gs.raise_exception(f"Physics-based particle sampler '{sampler}' is only supported on Linux.")
+    if not (gs.platform == "Linux" and platform.machine() == "x86_64"):
+        gs.raise_exception(f"Physics-based particle sampler '{sampler}' is only supported on Linux x86.")
 
     # compute file name via hashing for caching
     ptc_file_path = msu.get_ptc_path(mesh.vertices, mesh.faces, p_size, sampler)

genesis/utils/usda.py

@@ -17,9 +17,9 @@
 try:
     from pxr import Usd, UsdGeom, UsdShade, Sdf
 except ImportError as e:
-    gs.raise_exception_from(
-        "Failed to import USD dependencies. Try installing Genesis with 'usd' optional dependencies.", e
-    )
+    raise ImportError(
+        "Failed to import USD dependencies. Try installing Genesis with 'usd' optional dependencies."
+    ) from e
 
 
 cs_encode = {

genesis/vis/camera.py

@@ -4,7 +4,6 @@
 import time
 from functools import cached_property
 
-import cv2
 import numpy as np
 import torch
 
@@ -475,6 +474,9 @@ def render(
 
         # Display images if requested and supported
         if self._GUI and self._visualizer.has_display:
+            # Postpone import of OpenCV at runtime to reduce hard system dependencies
+            import cv2
+
             title = f"Genesis - Camera {self._idx}"
             if self._debug:
                 title += " (debug)"

pyproject.toml

@@ -10,7 +10,7 @@ readme = "README.md"
 requires-python = ">=3.10,<3.14"
 dependencies = [
     "psutil",
-    "gstaichi==3.2.1",
+    "gstaichi==3.3.0",
     "pydantic>=2.11.0",
     "numpy>=1.26.4",
     "trimesh",
@@ -35,12 +35,12 @@ dependencies = [
     "pycollada",
     # Used for parsing `.glb` mesh files
     "pygltflib==1.16.0",
-    # Used for parsing `.usd` mesh files
-    "usd-core<25.11",
     # Use by `PBD3DEntity.sample` to tetrahedralize a mesh
-    "tetgen>=0.6.4",
+    "tetgen>=0.6.4; platform_machine!='aarch64'",
     # Used for some advanced mesh processing such as `skeletonization`
     "PyGEL3D",
+    # Used to convert VTK output to numpy when converting volume to particles for PBS
+    "vtk",
     # Used here and there to load and export images
     # * 11.0 dramatically improves performance when exporting images to PNG
     "Pillow>11.0",
@@ -116,7 +116,7 @@ render = [
 ]
 usd = [
     # Used for parsing `.usd` mesh files
-    "usd-core",
+    "usd-core<25.11",
 ]
 
 [project.scripts]