[FEATURE] Add avatar (kinematic) entity and refactor rigid entity. by Kashu7100 · Pull Request #2459 · Genesis-Embodied-AI/Genesis

Kashu7100 · 2026-02-24T18:57:16Z

Description

Adds a visualization-only KinematicEntity for displaying ghost/reference motions (e.g., mimic policy targets) without affecting physics or simulation speed. Closes #2062.

Continued from #2452

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.
I have added tests to cover my changes.
All new and existing tests passed.

…ions Add a lightweight AvatarEntity and AvatarSolver for displaying reference motions (e.g., mimic policy targets) without affecting physics or simulation speed. The avatar solver inherits from RigidSolver to reuse FK, kinematic tree, and render transform infrastructure while disabling all collision, constraint solving, and physics integration. Key design: zero simulation overhead is guaranteed because the avatar solver's substep methods are no-ops, and it doesn't break the _rigid_only fast path. All geoms force contype=0/conaffinity=0 as a safety net. Closes Genesis-Embodied-AI#2062 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

AvatarSolver is visualization-only, so physics parameters (gravity, collision, constraints, etc.) should not be exposed. Move all hardcoded physics state into AvatarSolver.__init__ directly, skipping RigidSolver.__init__, and reduce AvatarOptions to only `dt`. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Use a full RigidOptions internally instead of SimpleNamespace to avoid missing-field crashes. Override set_dofs_position to skip collider/ constraint_solver reset. Add examples/avatar/go2_avatar.py showing a ghost Go2 with sinusoidal reference motion alongside a physics Go2. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Defer FK to update_visual_states and use zerocopy fast path with cached tensor views so set_dofs_position does only two indexed tensor writes per call. Benchmark confirms zero simulation overhead when updating avatar pose every step with CUDA tensors. Results (2000 steps, headless, Go2): Without avatar: ~700 steps/s With avatar (static): ~700 steps/s (+0%) With avatar (updating): ~730 steps/s (+0%) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

…on disabling Fix correctness bug where zerocopy cache silently used stale dofs_idx on subsequent calls with different indices. Remove AvatarVisGeom, trim AvatarSolverState to position-only fields, simplify Avatar material API, and add _GeomClass attribute to RigidLink to eliminate duplicated factory methods in AvatarLink. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

…ions Add a lightweight AvatarEntity and AvatarSolver for displaying reference motions (e.g., mimic policy targets) without affecting physics or simulation speed. The avatar solver inherits from RigidSolver to reuse FK, kinematic tree, and render transform infrastructure while disabling all collision, constraint solving, and physics integration. Key design: zero simulation overhead is guaranteed because the avatar solver's substep methods are no-ops, and it doesn't break the _rigid_only fast path. All geoms force contype=0/conaffinity=0 as a safety net. Closes Genesis-Embodied-AI#2062 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

AvatarSolver is visualization-only, so physics parameters (gravity, collision, constraints, etc.) should not be exposed. Move all hardcoded physics state into AvatarSolver.__init__ directly, skipping RigidSolver.__init__, and reduce AvatarOptions to only `dt`. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Use a full RigidOptions internally instead of SimpleNamespace to avoid missing-field crashes. Override set_dofs_position to skip collider/ constraint_solver reset. Add examples/avatar/go2_avatar.py showing a ghost Go2 with sinusoidal reference motion alongside a physics Go2. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Defer FK to update_visual_states and use zerocopy fast path with cached tensor views so set_dofs_position does only two indexed tensor writes per call. Benchmark confirms zero simulation overhead when updating avatar pose every step with CUDA tensors. Results (2000 steps, headless, Go2): Without avatar: ~700 steps/s With avatar (static): ~700 steps/s (+0%) With avatar (updating): ~730 steps/s (+0%) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

…on disabling Fix correctness bug where zerocopy cache silently used stale dofs_idx on subsequent calls with different indices. Remove AvatarVisGeom, trim AvatarSolverState to position-only fields, simplify Avatar material API, and add _GeomClass attribute to RigidLink to eliminate duplicated factory methods in AvatarLink. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

…_avatar

AvatarSolver now inherits from Solver (base class) directly, with its own build pipeline and kinematic init sequence. Avatar material inherits from Material directly. Both classes are completely unrelated to their Rigid counterparts, addressing reviewer feedback. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

KinematicEntity was carrying ~80 physics methods that only work with RigidSolver. Move them into RigidEntity so KinematicEntity is a minimal kinematic+visualization base (morphology, FK, IK, DOF position get/set) and RigidEntity holds all physics (forces, velocities, contacts, etc.). Add no-op stubs in KinematicEntity for methods called by KinematicSolver: process_input, process_input_grad, save_ckpt, load_ckpt, reset_grad, zero_all_dofs_velocity. Fix bug: _get_idx -> _get_global_idx in set_dofs_velocity_grad. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

genesis/engine/entities/rigid_entity/rigid_link.py

genesis/vis/rasterizer_context.py

genesis/vis/raytracer.py

genesis/engine/states/solvers.py

…-feat_avatar

The KinematicSolver and KinematicEntity classes are the primary implementations. This removes the legacy "avatar" naming layer so the codebase consistently uses "kinematic" throughout: materials, options, solver state, simulator/scene attributes, visualizers, examples, and tests. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

The kinematic solver handles Mesh morphs correctly via the same _load_mesh() path as RigidEntity, so the TODO noting it as buggy was outdated. Add gs.materials.Kinematic() to the tested materials and update the comp_key assertion to account for rigid-like entities that produce tuple segmentation keys at link/geom level. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

examples/kinematic/benchmark_kinematic.py

github-actions · 2026-02-28T08:15:24Z

⚠️ Abnormal Benchmark Result Detected ➡️ Report

examples/kinematic/go2_kinematic.py

genesis/engine/solvers/rigid/abd/forward_kinematics.py

genesis/engine/scene.py

genesis/engine/simulator.py

genesis/options/sensors/options.py

genesis/vis/raytracer.py

tests/test_render.py

genesis/engine/entities/rigid_entity/rigid_link.py

genesis/engine/solvers/rigid/rigid_solver.py

Kashu7100 and others added 14 commits February 23, 2026 20:29

Merge remote-tracking branch 'origin/feat-feat_avatar' into feat-feat…

4cf6b4e

…_avatar

refactor stap1

8afd789

Kashu7100 requested review from YilingQiao and duburcqa as code owners February 24, 2026 18:57

remove test

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duburcqa reviewed Feb 24, 2026

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Kashu7100 added 2 commits February 24, 2026 14:06

clean up

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clean up

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Kashu7100 requested a review from duburcqa February 24, 2026 22:57

duburcqa changed the title ~~[FETURE] add avatar (kinematic) entity and refactor rigid entity.~~ [FETURE] Add avatar (kinematic) entity and refactor rigid entity. Feb 26, 2026

YilingQiao reviewed Feb 28, 2026

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Kashu7100 and others added 3 commits February 27, 2026 23:15

Merge branch 'main' of https://github.com/Kashu7100/Genesis into feat…

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…-feat_avatar

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duburcqa force-pushed the feat-feat_avatar branch from 86ca503 to be293e5 Compare March 5, 2026 09:06