[Feature] Support Fisheye Camera. #2138
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* Fix URDF color overwrite. * Fix zero-copy being disabled for numpy. * Add warning when enabling requires_grad while using GsTaichi dynamic arrays. * More robust unit tests.
…-Embodied-AI#2068) * Fix differentiable simulation support for ndarray. * Fix shape issue with zero-copy for matrix field of shape Nx1.
* Migrate to gstaichi 4.3.1. * Enable zero-copy for ti.field except on Metal. * Re-enable fastcache on CI. * Get around memory initialization issue with field. * Fix shape issue with zero-copy for matrix field of shape Nx1. * Forcibly disable debug more when gradient is required. * Add marker to set debug mode on each specific unit test. * Fix missing copy. * Fix collider state not reset at init. * Fix unit test not supported on ARM runner. --------- Co-authored-by: Alexis Duburcq <alexis.duburcq@gmail.com>
Genesis-Embodied-AI#2074) * Fix increased memory usage due to differentiable simulation. * Cleanup differentiable rigid sim.
…is-Embodied-AI#2075) * More efficient GO2 env implementation. * Speed up torch-based geom utils via 'torch.jit.script'.
…into madrona_var
…into madrona_fisheye
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gs-madrona. (Thanks to @NoahLinckeScout from [Feature] Add fisheye rasterized rendering gs-madrona#44)model="fisheye"inscene.add_camerato set a camera in fisheye mode. Its half offovwill be used astheta_maxin fisheye camera.examples/rigid/single_franka_batch_render.pyfor example usage.image_exporter