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Merge pull request #29 from KraHsu/feat/showcase-and-foundation-docs
M1-M4 follow-up: viewer/batch_render kernel + showcase + docs
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‎CHANGELOG.md‎

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### Added
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- `examples/genelab_showcase/`: six play-only TaskCfgs that exercise every M1–M4
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building block (sensors / ray-cast patterns / contact + air-time / 5 sub-terrains /
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`terrain_levels_vel` curriculum / `IdealPDActuator` arm). Each task dumps
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per-feature evidence (PNG frames, distance histograms, tracking error, terrain
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level histograms) into `logs/showcase/<slug>/` so the visual + numerical behaviour
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of every building block can be eyeballed without launching an RL training run.
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- `InteractiveScene.viewer_closed` / `ManagerBasedRlEnv.viewer_closed`: viewer-closed
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handling moved into the kernel. `InteractiveScene.step` catches Genesis's
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`GenesisException("Viewer closed.")`, flips the flag, and becomes a no-op on
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subsequent calls. Consumers (RL runner, showcase runner, custom rollouts) only
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need to poll `env.viewer_closed` and break; the previous per-consumer
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`try/except gs.GenesisException` boilerplate is no longer required.
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- `InteractiveSceneCfg.batch_render: bool`: when set, `InteractiveScene._build`
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passes `gs.renderers.BatchRenderer(use_rasterizer=False)` to `gs.Scene`. Required
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for `CameraSensor` to produce per-env RGB-D tensors. Defaults to `False` for
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backwards compatibility.
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- `Sensor.pre_build_genesis(gs_scene, entities)`: new no-op hook on the sensor base
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class. `InteractiveScene._build` calls it on every sensor cfg right after entity
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spawn and before `gs_scene.build`, giving sensors a chance to register Genesis
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resources that the renderer snapshots at build time. `CameraSensor` overrides it
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to allocate its camera early — required for BatchRender to register the camera in
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its build-time snapshot. `InteractiveScene.sensors` now exposes the resulting
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instances, and `ManagerBasedRlEnv` binds those instances instead of re-building.
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- `docs/concepts/scene.{en,zh}.md`: bilingual concept page covering the M1 stack —
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`InteractiveScene` lifecycle, `SimulationCfg`, `InteractiveSceneCfg`, `Articulation`,
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`RigidObject`, and the four documented failure modes.
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- `docs/examples/showcase.{en,zh}.md`, `docs/examples/unitree-g1.{en,zh}.md`:
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bilingual examples pages — the showcase index plus a distilled Unitree G1
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walk-through (velocity tracking, motion imitation, long-run profiling).
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- `CameraSensor` (with `CameraSensorCfg` and `CameraData`): rigid-mount RGB-D probe
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wrapping Genesis's `BatchRenderer` camera. Per-env tensors with shape
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`(num_envs, H, W, 3)` for RGB (uint8) and `(num_envs, H, W)` for depth (float meters);

‎docs/concepts/scene.en.md‎

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# Scene and entities
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`genelab.scene.InteractiveScene` is the composition root that owns a Genesis
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`gs.Scene` together with the articulated robot, rigid props, optional terrain, and
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the mouse-interaction plugin. `ManagerBasedRlEnv` defers all sim-level orchestration
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to the scene; the env layer only manages the seven MDP terms.
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## Composing a Genesis scene
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A scene is built from two cfg objects passed to the env. `SimulationCfg` carries the
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Genesis runtime knobs (timestep, parallel-env count, viewer toggle); `InteractiveSceneCfg`
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carries the composition (entities, terrain, sensors, mouse plugin, BatchRenderer
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toggle). The scene parses the cfg, allocates wrapper objects, then defers the actual
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Genesis allocation to the `build()` call.
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```python
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from genelab.asset_zoo import CartpoleCfg
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from genelab.configs import InteractiveSceneCfg, SimulationCfg
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from genelab.envs.manager_based_rl_env import ManagerBasedRlEnvCfg
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env_cfg = ManagerBasedRlEnvCfg(
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simulation=SimulationCfg(num_envs=4096, dt=0.005, substeps=1, vis=False),
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scene=InteractiveSceneCfg(env_spacing=(2.5, 2.5)),
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robot=CartpoleCfg(),
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)
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```
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## Lifecycle
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`InteractiveScene` follows a strict three-step lifecycle, enforced at runtime:
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1. **Construct**: `InteractiveScene(sim_cfg, scene_cfg, device_hint=...)` parses the
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cfgs and allocates wrapper objects for every entity declared in
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`scene_cfg.entities`. No Genesis import yet.
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2. **Add entities**: `add_entity(name, cfg)` registers extra entities — the env uses
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this to inject `ManagerBasedRlEnvCfg.robot` under the name `"robot"`. Calling
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`add_entity` after `build()` raises `RuntimeError`.
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3. **Build**: `build()` imports Genesis, initialises the backend, creates the
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`gs.Scene`, spawns ground / terrain / entities / cameras, attaches the mouse
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plugin when configured, then calls `gs_scene.build(n_envs, env_spacing)`.
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`ManagerBasedRlEnv.__init__` runs all three steps in order and post-build binds every
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articulation so the per-joint and per-link tensors land.
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## SimulationCfg
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| Field | Default | Meaning |
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|---|---|---|
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| `vis` | `False` | Open the Genesis viewer. Forces `num_envs=1` in practice; the viewer can only render env 0. |
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| `gpu` | `False` | Use the CUDA backend (`gs.gpu`). Required for `BatchRenderer`. |
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| `steps` | `240` | Default number of steps the CLI `play` runner takes when no override is given. |
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| `dt` | `0.01` | Physics timestep in seconds. |
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| `substeps` | `4` | Genesis substeps per physics step. |
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| `num_envs` | `1` | Parallel-env count. Most managers tensorise across this dimension. |
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## InteractiveSceneCfg
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| Field | Default | Meaning |
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|---|---|---|
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| `env_spacing` | `(2.0, 2.0)` | Per-env XY offset Genesis applies when `num_envs > 1`. |
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| `sensors` | `()` | Tuple of `SensorCfg` instances built and bound after the scene is constructed. |
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| `mouse_interaction` | `False` | Attach the GeneLab mouse-drag plugin to the viewer (only effective with `vis=True`). |
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| `entities` | `{}` | Additional `ArticulationCfg` / `RigidObjectCfg` keyed by name. The env injects the robot as `"robot"`. |
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| `terrain` | `None` | A `TerrainGeneratorCfg`. Default `None` adds a flat `gs.morphs.Plane`. |
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| `batch_render` | `False` | Pass `gs.renderers.BatchRenderer(use_rasterizer=False)` to `gs.Scene`. Required for `CameraSensor` to emit per-env RGB-D tensors. Linux x86-64 + CUDA only. |
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## Articulation
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`Articulation` wraps an articulated robot. Construct from `ArticulationCfg` and add
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to the scene via `scene.add_entity("robot", cfg)` (or set
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`ManagerBasedRlEnvCfg.robot` and let the env wire it).
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| Field | Type | Meaning |
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|---|---|---|
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| `mjcf_path` | `str` | Absolute path to a MuJoCo XML file. |
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| `init_pos` | `tuple[float, float, float]` | World-frame spawn offset in metres. |
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| `init_quat` | `tuple[float, float, float, float]` | World-frame spawn orientation (wxyz). |
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| `default_joint_pos` | `dict[str, float]` | Regex-keyed default joint position; last match wins. |
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| `actuators` | `dict[str, ActuatorBaseCfg]` | Joint groups. Every actuated joint must be covered by exactly one group. |
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| `foot_link_names` | `tuple[str, ...]` | Optional metadata for downstream MDP terms (e.g. contact sensors). |
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The pre-M3 `joint_kp`, `joint_kv`, and dict-shaped `action_scale` knobs are
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removed — configure equivalent groups through `actuators`. Passive joints take an
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explicit zero-gain `ImplicitPDActuatorCfg` so the topology stays visible.
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```python
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from genelab.actuator import ImplicitPDActuatorCfg
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from genelab.entity import ArticulationCfg
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cartpole_cfg = ArticulationCfg(
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mjcf_path="/path/to/cartpole.xml",
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init_pos=(0.0, 0.0, 1.5),
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default_joint_pos={"cart_slide": 0.0, "pole_hinge": 0.0},
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actuators={
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"cart": ImplicitPDActuatorCfg(
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target_names_expr=("cart_slide",), stiffness=80.0, damping=8.0,
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),
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"pole": ImplicitPDActuatorCfg(
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target_names_expr=("pole_hinge",), stiffness=0.0, damping=0.0,
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),
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},
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)
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```
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## RigidObject
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`RigidObject` represents a non-articulated body. No actuators, no per-step state — it
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is geometry that participates in collisions and contacts but is never driven. Spawn
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via `scene.add_entity("name", RigidObjectCfg(...))` before `build()`.
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| Field | Type | Meaning |
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|---|---|---|
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| `morph` | `Literal["plane", "box", "sphere", "mesh", "mjcf"]` | Genesis morph selector. |
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| `file` | `str \| None` | Path to mesh / MJCF; required for `"mesh"` / `"mjcf"`. |
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| `size` | `tuple[float, ...]` | `(x, y, z)` for box, `(radius,)` for sphere. |
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| `init_pos`, `init_quat` | tuple | World-frame spawn pose (wxyz quat). |
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| `fixed` | `bool` | When `True`, the body is welded to the world frame. |
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Typical uses are static obstacles, target markers, and passive payloads. For
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articulated joints — even one — use `Articulation` instead.
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## Failure modes worth knowing
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!!! warning "`add_entity` after `build`"
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`InteractiveScene.add_entity` raises `RuntimeError` once `build()` has run.
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Construct the env, then add every extra entity, then let the env call `build()`.
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!!! warning "Empty `actuators` dict"
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`Articulation.bind` rejects an empty `actuators` dict. Every actuated joint must
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be covered by exactly one group; unmatched or doubly-matched joints raise
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`ValueError` with the conflicting joint names listed.
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!!! warning "Genesis backend mismatch"
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`SimulationCfg.gpu=True` requires a working CUDA install. On macOS or CPU-only
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Linux, leave `gpu=False`; the CPU backend handles single-env play loops fine.
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`batch_render=True` further requires Linux x86-64 + CUDA + Madrona — there is no
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CPU fallback.
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!!! note "Viewer and parallel envs"
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`SimulationCfg.vis=True` is only meaningful with `num_envs=1`. The viewer
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renders env 0 regardless, so leave `num_envs` high for training and switch to a
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dedicated `play_env` with `num_envs=1` for visual inspection.
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!!! tip "Viewer closed mid-rollout"
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When the user closes the Genesis viewer, the kernel catches
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`GenesisException("Viewer closed.")` inside `InteractiveScene.step` and flips
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`env.viewer_closed = True`. Subsequent `env.step` calls become no-ops. Loop
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drivers should poll the flag instead of writing their own try / except:
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```python
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for step in range(max_steps):
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obs, *_ = env.step(action)
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if env.viewer_closed:
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break
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```
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## See also
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- [Configs](configs.md)
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- [Actuators](actuators.md)
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- [Asset zoo](asset_zoo.md)

‎docs/concepts/scene.zh.md‎

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# 场景与实体
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`genelab.scene.InteractiveScene` 是组合根 (composition root)，持有一个 Genesis `gs.Scene`
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以及关节机器人、刚体道具、可选地形、鼠标交互插件。`ManagerBasedRlEnv` 把所有 sim 层
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编排都交给 scene；env 层只管 7 个 MDP term。
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## 组合 Genesis 场景
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scene 从两个传给 env 的 cfg 对象构造。`SimulationCfg` 携带 Genesis 运行时旋钮 (时间步、
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并行 env 数、viewer 开关)；`InteractiveSceneCfg` 携带组合内容 (entities、terrain、sensors、
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mouse 插件、BatchRenderer 开关)。scene 解析 cfg、分配 wrapper 对象，真正的 Genesis 分配
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延后到 `build()` 调用。
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```python
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from genelab.asset_zoo import CartpoleCfg
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from genelab.configs import InteractiveSceneCfg, SimulationCfg
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from genelab.envs.manager_based_rl_env import ManagerBasedRlEnvCfg
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env_cfg = ManagerBasedRlEnvCfg(
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simulation=SimulationCfg(num_envs=4096, dt=0.005, substeps=1, vis=False),
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scene=InteractiveSceneCfg(env_spacing=(2.5, 2.5)),
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robot=CartpoleCfg(),
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)
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```
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## 生命周期
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`InteractiveScene` 遵循严格的三步生命周期，运行时强校验：
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1. **构造**：`InteractiveScene(sim_cfg, scene_cfg, device_hint=...)` 解析 cfg 并为
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`scene_cfg.entities` 里每个实体分配 wrapper。此刻还没 import Genesis。
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2. **追加实体**：`add_entity(name, cfg)` 注册额外实体——env 用它把
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`ManagerBasedRlEnvCfg.robot` 以 `"robot"` 名注入。`build()` 之后再调
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`add_entity` 会抛 `RuntimeError`。
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3. **构建**：`build()` 导入 Genesis、初始化 backend、创建 `gs.Scene`、生成地面 / 地形 /
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实体 / 相机，按需挂上鼠标插件，最后 `gs_scene.build(n_envs, env_spacing)`。
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`ManagerBasedRlEnv.__init__` 顺序跑完三步，build 之后再 bind 每个 articulation，让
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per-joint / per-link tensor 落位。
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## SimulationCfg
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| 字段 | 默认 | 含义 |
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|---|---|---|
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| `vis` | `False` | 打开 Genesis viewer。实际只配合 `num_envs=1`；viewer 只能渲染 env 0。 |
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| `gpu` | `False` | 使用 CUDA backend (`gs.gpu`)。`BatchRenderer` 需要它。 |
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| `steps` | `240` | CLI `play` 在没指定 override 时默认跑的步数。 |
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| `dt` | `0.01` | 物理时间步 (秒)。 |
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| `substeps` | `4` | 每个物理步内的 Genesis 子步数。 |
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| `num_envs` | `1` | 并行 env 数。大多数 manager 在这个维度上向量化。 |
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## InteractiveSceneCfg
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| 字段 | 默认 | 含义 |
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|---|---|---|
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| `env_spacing` | `(2.0, 2.0)` | `num_envs > 1` 时 Genesis 在 XY 上为每个 env 留的间距。 |
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| `sensors` | `()` | scene 构造完后批量 build + bind 的 `SensorCfg` 元组。 |
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| `mouse_interaction` | `False` | 给 viewer 挂上 GeneLab 的鼠标拖拽插件 (仅在 `vis=True` 时有效)。 |
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| `entities` | `{}` | 按名字索引的额外 `ArticulationCfg` / `RigidObjectCfg`。env 会以 `"robot"` 名注入主机器人。 |
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| `terrain` | `None` | `TerrainGeneratorCfg`；默认 `None` 时铺一张 `gs.morphs.Plane` 平面。 |
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| `batch_render` | `False` | 把 `gs.renderers.BatchRenderer(use_rasterizer=False)` 传给 `gs.Scene`。`CameraSensor` 输出 per-env RGB-D 张量必需。仅支持 Linux x86-64 + CUDA。 |
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## Articulation
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`Articulation` 包装一个关节机器人。从 `ArticulationCfg` 构造，再通过
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`scene.add_entity("robot", cfg)` 加入 scene (或者直接设 `ManagerBasedRlEnvCfg.robot`，让
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env 自动接管)。
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| 字段 | 类型 | 含义 |
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|---|---|---|
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| `mjcf_path` | `str` | MuJoCo XML 文件的绝对路径。 |
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| `init_pos` | `tuple[float, float, float]` | 世界系初始位移 (米)。 |
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| `init_quat` | `tuple[float, float, float, float]` | 世界系初始姿态 (wxyz 四元数)。 |
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| `default_joint_pos` | `dict[str, float]` | 正则键控的默认关节位置；按 last-match-wins。 |
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| `actuators` | `dict[str, ActuatorBaseCfg]` | 关节分组。每个被驱动关节必须恰被一个分组覆盖。 |
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| `foot_link_names` | `tuple[str, ...]` | 给下游 MDP term (例如 contact sensor) 的可选元数据。 |
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M3 之前的 `joint_kp` / `joint_kv` / dict 形 `action_scale` 旋钮已经移除——同等行为请
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通过 `actuators` 配。被动关节用一个零增益的 `ImplicitPDActuatorCfg` 显式覆盖，保持
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拓扑可见。
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```python
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from genelab.actuator import ImplicitPDActuatorCfg
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from genelab.entity import ArticulationCfg
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cartpole_cfg = ArticulationCfg(
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mjcf_path="/path/to/cartpole.xml",
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init_pos=(0.0, 0.0, 1.5),
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default_joint_pos={"cart_slide": 0.0, "pole_hinge": 0.0},
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actuators={
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"cart": ImplicitPDActuatorCfg(
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target_names_expr=("cart_slide",), stiffness=80.0, damping=8.0,
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),
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"pole": ImplicitPDActuatorCfg(
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target_names_expr=("pole_hinge",), stiffness=0.0, damping=0.0,
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),
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},
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)
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```
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## RigidObject
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`RigidObject` 表示一个非关节刚体。无 actuator、无 per-step 状态——它就是几何，参与碰撞
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与接触，但永远不被驱动。`build()` 之前通过 `scene.add_entity("name", RigidObjectCfg(...))`
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加入。
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| 字段 | 类型 | 含义 |
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|---|---|---|
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| `morph` | `Literal["plane", "box", "sphere", "mesh", "mjcf"]` | Genesis morph 选择。 |
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| `file` | `str \| None` | mesh / MJCF 路径；`"mesh"` / `"mjcf"` 必填。 |
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| `size` | `tuple[float, ...]` | box 是 `(x, y, z)`；sphere 是 `(radius,)`。 |
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| `init_pos`、`init_quat` | tuple | 世界系初始位姿 (wxyz quat)。 |
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| `fixed` | `bool` | `True` 时把刚体焊死在世界系。 |
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典型用法是静态障碍、目标 marker、被动负载。只要有一个关节就用 `Articulation`，不要用
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`RigidObject`。
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## 已知失效模式
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!!! warning "`build` 之后追加实体"
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`build()` 之后再调 `InteractiveScene.add_entity` 会抛 `RuntimeError`。先构造 env，把
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所有额外实体加完，再让 env 调用 `build()`。
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!!! warning "空 `actuators` 字典"
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`Articulation.bind` 拒绝空 `actuators`。每个被驱动关节必须被恰一个分组覆盖；未匹配
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或被双重匹配的关节会带着冲突关节名抛 `ValueError`。
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!!! warning "Genesis backend 不匹配"
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`SimulationCfg.gpu=True` 需要可用的 CUDA 安装。macOS / 纯 CPU Linux 上保持
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`gpu=False`；CPU backend 跑单 env play 循环没问题。`batch_render=True` 额外要求
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Linux x86-64 + CUDA + Madrona——没有 CPU 回退。
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!!! note "Viewer 与并行 env"
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`SimulationCfg.vis=True` 仅在 `num_envs=1` 时有意义。viewer 只渲染 env 0，所以训练
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时把 `num_envs` 设高，再单独配一份 `num_envs=1` 的 `play_env` 用于人眼检查。
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!!! tip "Rollout 中途关闭 viewer"
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用户关掉 Genesis viewer 后，内核会在 `InteractiveScene.step` 里捕获
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`GenesisException("Viewer closed.")` 并把 `env.viewer_closed` 置 `True`，后续
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`env.step` 自动 no-op。上层循环只需轮询这个 flag，不必自己写 try / except：
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```python
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for step in range(max_steps):
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obs, *_ = env.step(action)
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if env.viewer_closed:
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break
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```
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## See also
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- [Configs](configs.md)
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- [Actuators](actuators.md)
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- [Asset zoo](asset_zoo.md)

‎docs/concepts/sensors.en.md‎

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### CameraSensor
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Rigid-mount RGB-D camera bolted to a named link via a fixed 4×4 transform. `bind()`
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resolves the link, allocates one Genesis camera handle through `scene.gs_scene.add_camera`,
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builds the offset matrix from `offset_pos` / `offset_quat`, and calls `cam.attach`.
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Each `data` access invokes `cam.move_to_attach()` then `cam.render(...)` once per
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control step; the cached :class:`CameraData` returns `rgb` (uint8) and / or `depth`
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(float meters), shaped `(num_envs, H, W, 3)` / `(num_envs, H, W)`.
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Rigid-mount RGB-D camera bolted to a named link via a fixed 4×4 transform.
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`pre_build_genesis()` runs before `gs_scene.build` so the camera is registered in
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time for `BatchRenderer` to snapshot it; it allocates the Genesis camera handle
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through `gs_scene.add_camera`, builds the offset matrix from `offset_pos` /
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`offset_quat`, and calls `cam.attach`. `bind()` then validates the link name
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against `env.link_names`. Each `data` access invokes `cam.move_to_attach()` and
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`cam.render(...)` once per control step; the cached `CameraData` returns `rgb`
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(uint8) and / or `depth` (float meters), shaped `(num_envs, H, W, 3)` /
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`(num_envs, H, W)`.
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107110
| Field | Type | Meaning |
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|-------|------|---------|
@@ -115,10 +118,11 @@ control step; the cached :class:`CameraData` returns `rgb` (uint8) and / or `dep
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| `render_rgb`, `render_depth` | `bool` | Independently toggle each channel; the disabled channel is `None` in the output dataclass. |
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!!! warning "BatchRenderer is the only parallel-env backend"
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Multi-env RGB-D requires `gs.init(backend=gs.cuda)` plus
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`gs.Scene(renderer=gs.renderers.BatchRenderer(use_rasterizer=False), ...)` —
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Linux x86-64 + CUDA only. The module file can still be imported on macOS / CPU,
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but `bind()` will raise as soon as Genesis allocates the camera against an
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Multi-env RGB-D requires `gs.init(backend=gs.cuda)` and
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`InteractiveSceneCfg.batch_render=True` — the scene then passes
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`gs.renderers.BatchRenderer(use_rasterizer=False)` to `gs.Scene`. Linux x86-64 +
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CUDA only. The module file can still be imported on macOS / CPU, but
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`gs_scene.build` will raise once it inspects the camera list against an
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incompatible renderer.
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### ContactSensor

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