| """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 |
| |
| |
| |
| 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 |
|
|
