[FEATURE] Modify n_rendered_envs to rendered_envs_idx #752

lupinjia · 2025-02-19T04:01:25Z

Description

modify n_rendered_envs attribute in vis_options to rendered_envs_idx, to support specification of which env to be rendered.

Motivation and Context

When training, sometimes I need to render specific env to see what happened to that env, so this specification can be useful

How Has This Been / Can This Be Tested?

modified examples/tutorials/visualization.py to test different idx rendered, run visualization.py to see the result.

CI tests have been conducted locally, and there's no problem.

True island 	| 1 cubes 	| <CG: 0> 	| 10,347,075.60 fps 	| 8192 envs
False island 	| 1 cubes 	| <CG: 0> 	| 21,736,861.82 fps 	| 8192 envs
True island 	| 10 cubes 	| <CG: 0> 	| 1,093,222.22 fps 	| 8192 envs
False island 	| 10 cubes 	| <CG: 0> 	| 816,686.37 fps 	| 8192 envs
True island 	| 1 cubes 	| <Newton: 1> 	| 8,947,203.02 fps 	| 8192 envs
False island 	| 1 cubes 	| <Newton: 1> 	| 17,418,196.78 fps 	| 8192 envs
True island 	| 10 cubes 	| <Newton: 1> 	| 925,635.75 fps 	| 8192 envs
False island 	| 10 cubes 	| <Newton: 1> 	| 317,976.76 fps 	| 8192 envs
random 	| <CG: 0> 	| 1,243,238.90 fps 	| 30000 envs
random 	| <Newton: 1> 	| 1,823,401.43 fps 	| 30000 envs
anymal 	| <CG: 0> 	| 4,958,232.78 fps 	| 30000 envs
anymal 	| <Newton: 1> 	| 4,623,612.63 fps 	| 30000 envs
frank 	| <CG: 0> 	| 10,531,791.39 fps 	| 30000 envs
frank 	| <Newton: 1> 	| 11,374,890.36 fps 	| 30000 envs

Screenshots (if appropriate):

render first 5 envs:

render envs with idx 10 to 14:

Checklist:

I read the CONTRIBUTING document.
I followed the Submitting Code Changes section of CONTRIBUTING document.
I tagged the title correctly (including BUG FIX/FEATURE/MISC/BREAKING)
I updated the documentation accordingly or no change is needed.
I tested my changes and added instructions on how to test it for reviewers.

Kashu7100 · 2025-02-28T17:50:59Z

@YilingQiao do you think we can merge this after we modified add the examples using n_rendered_envs?

duburcqa · 2025-02-28T17:58:41Z

genesis/vis/rasterizer_context.py

@@ -285,7 +285,7 @@ def on_rigid(self):
                        mesh = geom.get_sdf_trimesh()
                    else:
                        mesh = geom.get_trimesh()
-                    geom_T = geoms_T[geom.idx][: self.n_rendered_envs]
+                    geom_T = geoms_T[geom.idx][self.rendered_envs_idx]


Beware this would trigger a copy since ‘self.rendered_envs_idx’ is not a slice but a list. No sure about the overall performance penalty it induces.

I see. We should bench first...

For this problem, I added a new variable called rendered_envs_idx_slice to avoid copy list to slice in the loop

examples/tutorials/visualization.py

Kashu7100 · 2025-02-28T19:49:36Z

genesis/vis/rasterizer_context.py

@@ -285,7 +285,7 @@ def on_rigid(self):
                        mesh = geom.get_sdf_trimesh()
                    else:
                        mesh = geom.get_trimesh()
-                    geom_T = geoms_T[geom.idx][: self.n_rendered_envs]
+                    geom_T = geoms_T[geom.idx][self.rendered_envs_idx]


I see. We should bench first...

YilingQiao · 2025-03-01T05:04:47Z

@YilingQiao do you think we can merge this after we modified add the examples using n_rendered_envs?

Yeah, I think we can merge this after incorporating the suggested changes.

Kashu7100 · 2025-03-02T08:23:02Z

genesis/vis/rasterizer_context.py

@@ -64,6 +64,7 @@ def build(self, scene):

        if self.rendered_envs_idx is None:
            self.rendered_envs_idx = list(range(self.sim._B))
+        self.rendered_envs_idx_slice = slice(self.rendered_envs_idx[0], self.rendered_envs_idx[-1] + 1)


I don't think the assumption of consecutive rendered_envs_idx is good. What we should do instead is to measure the overhead introduced by list indexing and verify it won't add more overhead compared to the current version.

Kashu7100 · 2025-03-02T08:24:02Z

genesis/vis/raytracer.py

@@ -208,7 +208,8 @@ def build(self, scene):
        self.sim = scene.sim
        self.visualizer = scene.visualizer
        if self.rendered_envs_idx is None:
-            self.rendered_envs = list(range(self.sim._B))
+            self.rendered_envs_idx = list(range(self.sim._B))
+        self.rendered_envs_idx_slice = slice(self.rendered_envs_idx[0], self.rendered_envs_idx[-1] + 1)


I don't think the assumption of consecutive rendered_envs_idx is good.

Kashu7100 · 2025-03-02T08:24:47Z

genesis/vis/rasterizer_context.py

@@ -285,7 +286,7 @@ def on_rigid(self):
                        mesh = geom.get_sdf_trimesh()
                    else:
                        mesh = geom.get_trimesh()
-                    geom_T = geoms_T[geom.idx][self.rendered_envs_idx]
+                    geom_T = geoms_T[geom.idx][self.rendered_envs_idx_slice]


should keep self.rendered_envs_idx but make sure this won't affect the performance.

Kashu7100 · 2025-03-02T08:24:56Z

genesis/vis/rasterizer_context.py

@@ -312,7 +313,7 @@ def update_rigid(self, buffer_updates):
                    geoms_T = self.sim.rigid_solver._geoms_render_T

                for geom in geoms:
-                    geom_T = geoms_T[geom.idx][self.rendered_envs_idx]
+                    geom_T = geoms_T[geom.idx][self.rendered_envs_idx_slice]


should keep self.rendered_envs_idx but make sure this won't affect the performance.

lupinjia added 2 commits February 19, 2025 11:56

modify n_rendered_envs to rendered_envs_idx

a0f58fe

modification switch to visualization

6529352

lupinjia marked this pull request as ready for review February 19, 2025 06:34

update doc

5eccab3

Kashu7100 self-requested a review February 20, 2025 18:37

lupinjia mentioned this pull request Feb 23, 2025

[Bug]: Unitree Go2 gets “launched away” when spawned on complex terrain generated by the terrain generator #625

Open

duburcqa reviewed Feb 28, 2025

View reviewed changes

Kashu7100 reviewed Mar 1, 2025

View reviewed changes

added new example "selecting_rendered_envs", added a new slice variable

4523e00

Kashu7100 reviewed Mar 2, 2025

View reviewed changes

duburcqa changed the title ~~[FEATURE]modify n_rendered_envs to rendered_envs_idx~~ [FEATURE] Modify n_rendered_envs to rendered_envs_idx Mar 3, 2025

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[FEATURE] Modify n_rendered_envs to rendered_envs_idx #752

[FEATURE] Modify n_rendered_envs to rendered_envs_idx #752

lupinjia commented Feb 19, 2025 •

edited

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Kashu7100 commented Feb 28, 2025

duburcqa Feb 28, 2025

Kashu7100 Feb 28, 2025

lupinjia Mar 1, 2025

Kashu7100 Feb 28, 2025

YilingQiao commented Mar 1, 2025

Kashu7100 Mar 2, 2025

duburcqa Mar 2, 2025

Kashu7100 Mar 2, 2025

Kashu7100 Mar 2, 2025

Kashu7100 Mar 2, 2025

[FEATURE] Modify n_rendered_envs to rendered_envs_idx #752

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[FEATURE] Modify n_rendered_envs to rendered_envs_idx #752

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lupinjia commented Feb 19, 2025 • edited Loading

Description

Motivation and Context

How Has This Been / Can This Be Tested?

Screenshots (if appropriate):

Checklist:

Kashu7100 commented Feb 28, 2025

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YilingQiao commented Mar 1, 2025

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lupinjia commented Feb 19, 2025 •

edited

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