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36b714d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 | """Opt-in explicit device binding for SAPIEN 3's legacy RoboTwin API."""
import os
def bind_sapien():
shader = os.environ.get('EVAL_RENDER_SHADER', 'rt')
if shader not in ('rt', 'default'):
raise ValueError('Supported evaluation shaders: rt or default')
if shader != 'rt':
import sapien
original_shader = sapien.render.set_camera_shader_dir
# Override only the official rt request. All physics/camera geometry and
# RNG remain unchanged; the new rendering protocol is recorded by the
# scheduler and must never be merged with local rt measurements.
def selected_shader(path):
return original_shader(shader if path == 'rt' else path)
sapien.render.set_camera_shader_dir = selected_shader
if not os.environ.get('EVAL_GPU_UUID'):
return
if os.environ.get('CUDA_VISIBLE_DEVICES') != os.environ['EVAL_GPU_UUID']:
raise RuntimeError('Simulator CUDA mask does not match the allocated GPU')
import sapien
device = sapien.Device('cuda:0')
if not device.is_cuda() or not device.can_render():
raise RuntimeError(f'Allocated GPU cannot render: {device}')
native_init = sapien.pysapien.render.SapienRenderer.__init__
sapien.SapienRenderer.__init__ = lambda self, **kw: native_init(self, device)
from sapien.wrapper.scene import Scene
original_init = Scene.__init__
def bound_scene(self, systems=None):
if systems is None:
systems = [sapien.physx.PhysxCpuSystem(), sapien.render.RenderSystem(device)]
original_init(self, systems)
if self.render_system.device.pci_string != device.pci_string:
raise RuntimeError('SAPIEN render device differs from allocation')
Scene.__init__ = bound_scene
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