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[BUG FIX] Fix heterogeneous entities in the Madrona batch renderer #2960

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[BUG FIX] Fix heterogeneous entities in the Madrona batch renderer #2960

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[Vis] Fix heterogeneous entities in the Madrona batch renderer
Kashu7100 Jun 17, 2026
4d4d3a7
Merge remote-tracking branch 'upstream/main' into fix/madrona-heterog…
Kashu7100 Jun 17, 2026
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12 changes: 12 additions & 0 deletions genesis/vis/batch_renderer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,18 @@ def retrieve_rigid_meshes_static(self):
args["geom_sizes"] = np.ones((self.n_vgeoms, 3), dtype=np.float32)
args["enabled_geom_groups"] = self.default_enabled_geom_groups

# Heterogeneous entities: a vgeom variant may exist in only a subset of envs
# (vgeom.active_envs_mask). Emit an optional [num_worlds, num_geoms] visibility
# mask (1 = visible, 0 = hidden) so each variant renders only where it is active;
# omitted for homogeneous scenes (legacy + back-compat with older Madrona).
if any(vgeom.active_envs_mask is not None for vgeom in vgeoms):
num_worlds = max(self.rigid_solver.n_envs, 1)
geom_env_mask = np.ones((num_worlds, self.n_vgeoms), dtype=np.int32)
for vgeom in vgeoms:
if vgeom.active_envs_mask is not None:
geom_env_mask[:, vgeom.idx] = vgeom.active_envs_mask.detach().cpu().numpy()
args["geom_env_mask"] = geom_env_mask

@chatgpt-codex-connector chatgpt-codex-connector Bot Jun 17, 2026

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P2 Badge Gate geom_env_mask on the installed Madrona API

In a default Linux install this repo still pins gs-madrona==0.0.7.post2 in pyproject.toml, while the renderer-side API that accepts geom_env_mask lives in a separate gs-madrona change. For any heterogeneous scene this line adds a new kwarg that the pinned MadronaBatchRenderer binding does not accept, so BatchRenderer.build() fails before rendering instead of preserving the previous behavior; please bump the dependency in this change or only emit the key when the installed adapter supports it.

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# Retrieve material data
geom_mat_ids = []
num_materials = 0
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