[MISC] Various minor bug fixes. (#1967)

Author: duburcqa

.github/workflows/production.yml

@@ -19,7 +19,7 @@ env:
   # Note that secrets are not passed to workflows that are triggered by a pull request from a fork
   HF_TOKEN: ${{ secrets.HF_TOKEN }}
   HF_HUB_DOWNLOAD_TIMEOUT: 60
-  GENESIS_IMAGE_VER: "1_10"
+  GENESIS_IMAGE_VER: "1_14"
   TIMEOUT_MINUTES: 60
   FORCE_COLOR: 1
   PY_COLORS: 1
@@ -64,7 +64,7 @@ jobs:
           "${{ github.workspace }}":/root/workspace \
             --no-container-mount-home --container-workdir=/root/workspace \
             --export=NVIDIA_DRIVER_CAPABILITIES=all,BASH_ENV=/root/.bashrc,HF_TOKEN,GS_ENABLE_NDARRAY=${GS_ENABLE_NDARRAY} \
-            --partition=hpc-mid --exclusive --nodes=1 --time="${TIMEOUT_MINUTES}" \
+            --partition=hpc-mid --nodes=1 --gpus=8 --exclusive --time="${TIMEOUT_MINUTES}" \
             --job-name=${SLURM_JOB_NAME} \
             bash -e -s << 'EOF'
               if test -n "$(find /root/.venv -maxdepth 0 -empty)"; then
@@ -127,7 +127,7 @@ jobs:
           "${{ github.workspace }}":/root/workspace \
             --no-container-mount-home --container-workdir=/root/workspace \
             --export=${SLURM_ENV_VARS} \
-            --partition=hpc-mid --exclusive --nodes=1 --time="${TIMEOUT_MINUTES}" \
+            --partition=hpc-mid --nodes=1 --gpus=8 --exclusive --time="${TIMEOUT_MINUTES}" \
             --job-name=${SLURM_JOB_NAME} \
             bash -e -s << 'EOF'
               # sudo apt update

genesis/engine/solvers/rigid/constraint_solver_decomp.py

@@ -31,10 +31,14 @@ def __init__(self, rigid_solver: "RigidSolver"):
         self.ls_tolerance = rigid_solver._options.ls_tolerance
         self.sparse_solve = rigid_solver._options.sparse_solve
 
-        # 4 constraints per contact, 1 constraints per joint limit (upper and lower, if not inf), and 3 constraints per equality
-        self.len_constraints = (
-            5 * rigid_solver.collider._collider_info.max_contact_pairs[None]
-            + np.logical_not(np.isinf(self._solver.dofs_info.limit.to_numpy()[:, 0])).sum()
+        # * 4 constraints per contact
+        # * 1 constraint per joint limit (upper and lower, if not inf)
+        # * 1 constraint per dof frictionloss
+        # * up to 6 constraints per equality (weld)
+        self.len_constraints = int(
+            4 * rigid_solver.collider._collider_info.max_contact_pairs[None]
+            + (self._solver.dofs_info.frictionloss.to_numpy() > gs.EPS).sum()
+            + (~np.isinf(self._solver.dofs_info.limit.to_numpy()).any(axis=-1)).sum()
             + self._solver.n_equalities_candidate * 6
         )
         self.len_constraints_ = max(1, self.len_constraints)

genesis/engine/solvers/rigid/constraint_solver_decomp_island.py

@@ -32,8 +32,8 @@ def __init__(self, rigid_solver: "RigidSolver"):
         self.sparse_solve: bool = True
 
         # 4 constraints per contact and 1 constraints per joint limit (upper and lower, if not inf)
-        self.len_constraints = (
-            5 * self._collider._collider_info.max_contact_pairs[None]
+        self.len_constraints = int(
+            4 * self._collider._collider_info.max_contact_pairs[None]
             + np.logical_not(np.isinf(self._solver.dofs_info.limit.to_numpy()[:, 0])).sum()
         )
         self.len_constraints_ = max(1, self.len_constraints)