[MISC] Reduce warning messages. (Genesis-Embodied-AI#1294)

Author: YilingQiao

genesis/engine/solvers/rigid/rigid_solver_decomp.py

@@ -46,9 +46,9 @@ def _sanitize_sol_params(
         gs.logger.debug(f"Constraint solver time constant not specified. Using minimum value (`{min_timeconst:0.6g}`).")
     if ((timeconst > gs.EPS) & (timeconst + gs.EPS < min_timeconst)).any():
         gs.logger.warning(
-            "Constraint solver time constant was increased to avoid numerical instability (from "
-            f"`{timeconst.min():0.6g}` to `{min_timeconst:0.6g}`). Decrease simulation timestep to avoid "
-            "altering the original value."
+            "Constraint solver time constant should be greater than 2*subste_dt. timeconst is changed from "
+            f"`{timeconst.min():0.6g}` to `{min_timeconst:0.6g}`). Decrease simulation timestep or "
+            "increase timeconst to avoid altering the original value."
         )
     timeconst[:] = timeconst.clip(min_timeconst)
     dampratio[:] = dampratio.clip(0.0)
@@ -327,13 +327,11 @@ def _kernel_init_invweight(
         links_invweight: ti.types.ndarray(),
         dofs_invweight: ti.types.ndarray(),
     ):
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.PARTIAL)
         for I in ti.grouped(self.links_info):
             for j in ti.static(range(2)):
                 if self.links_info[I].invweight[j] < gs.EPS:
                     self.links_info[I].invweight[j] = links_invweight[I[0], j]
 
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.PARTIAL)
         for I in ti.grouped(self.dofs_info):
             if self.dofs_info[I].invweight < gs.EPS:
                 self.dofs_info[I].invweight = dofs_invweight[I[0]]
@@ -481,7 +479,6 @@ def _kernel_init_dof_fields(
         dofs_kv: ti.types.ndarray(),
         dofs_force_range: ti.types.ndarray(),
     ):
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.PARTIAL)
         for I in ti.grouped(self.dofs_info):
             i = I[0]  # batching (if any) will be the second dim
 
@@ -693,7 +690,6 @@ def _kernel_init_link_fields(
         links_inertial_mass: ti.types.ndarray(),
         links_entity_idx: ti.types.ndarray(),
     ):
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.PARTIAL)
         for I in ti.grouped(self.links_info):
             i = I[0]
 
@@ -725,7 +721,6 @@ def _kernel_init_link_fields(
                 for j2 in ti.static(range(3)):
                     self.links_info[I].inertial_i[j1, j2] = links_inertial_i[i, j1, j2]
 
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.PARTIAL)
         for i, b in ti.ndrange(self.n_links, self._B):
             I = [i, b] if ti.static(self._options.batch_links_info) else i
 
@@ -762,7 +757,6 @@ def _kernel_init_joint_fields(
         joints_dof_end: ti.types.ndarray(),
         joints_pos: ti.types.ndarray(),
     ):
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.PARTIAL)
         for I in ti.grouped(self.joints_info):
             i = I[0]
 
@@ -1789,7 +1783,6 @@ def detect_collision(self, env_idx=0):
 
     @ti.kernel
     def _kernel_forward_kinematics_links_geoms(self, envs_idx: ti.types.ndarray()):
-        ti.loop_config(serialize=self._para_level < gs.PARA_LEVEL.ALL)
         for i_b in envs_idx:
             self._func_forward_kinematics(i_b)
             self._func_COM_links(i_b)

genesis/utils/misc.py

@@ -45,28 +45,76 @@ def raise_exception_from(msg="Something went wrong.", cause=None):
 
 
 class redirect_libc_stderr:
+    """
+    Context-manager that temporarily redirects C / C++ std::cerr
+    (i.e. the C `stderr` file descriptor 2) to a given Python
+    file-like object’s fd.
+
+    Works on macOS, Linux (glibc / musl), and Windows (MSVCRT /
+    Universal CRT ≥ VS2015).
+    """
+
     def __init__(self, fd):
-        self.fd = fd
-        self.stderr_fileno = None
+        self.fd = fd  # Target destination
+        self.stderr_fileno = None  # Usually 2
         self.original_stderr_fileno = None
 
+    # --------------------------------------------------
+    # Enter: duplicate stderr → tmp, dup2(target) → stderr
+    # --------------------------------------------------
     def __enter__(self):
-        # TODO: Add Linux and Windows support
-        if sys.platform == "darwin":
+        self.stderr_fileno = sys.stderr.fileno()
+        # Keep a copy so we can restore later
+        self.original_stderr_fileno = os.dup(self.stderr_fileno)
+        sys.stderr.flush()  # Flush Python buffers first
+
+        if os.name == "posix":  # macOS, Linux, *BSD, …
             libc = ctypes.CDLL(None)
-            self.stderr_fileno = sys.stderr.fileno()
-            self.original_stderr_fileno = os.dup(self.stderr_fileno)
-            sys.stderr.flush()
-            libc.fflush(None)
+            libc.fflush(None)  # Flush all C stdio streams
             libc.dup2(self.fd.fileno(), self.stderr_fileno)
+        elif os.name == "nt":  # Windows
+            msvcrt = ctypes.CDLL("msvcrt")
+            kernel32 = ctypes.WinDLL("kernel32", use_last_error=True)
+
+            msvcrt.fflush(None)  # Flush CRT buffers
+            # Duplicate: _dup2(new_fd, old_fd)
+            msvcrt._dup2(self.fd.fileno(), self.stderr_fileno)
+
+            # Tell the OS so child APIs that use GetStdHandle( … )
+            # see the new handle as well.
+            STDERR_HANDLE = -12  # (DWORD) -12 == STD_ERROR_HANDLE
+            new_os_handle = msvcrt._get_osfhandle(self.fd.fileno())
+            kernel32.SetStdHandle(STDERR_HANDLE, new_os_handle)
+        else:
+            gs.logger.warning(f"Unsupported platform for redirecting libc stderr: {sys.platform}")
+
+        return self  # Optional, enables `as` clause
 
+    # --------------------------------------------------
+    # Exit: restore previous stderr, close the temp copy
+    # --------------------------------------------------
     def __exit__(self, exc_type, exc_value, traceback):
-        if self.stderr_fileno is not None:
+        if self.stderr_fileno is None:
+            return
+
+        if os.name == "posix":
             libc = ctypes.CDLL(None)
             sys.stderr.flush()
             libc.fflush(None)
             libc.dup2(self.original_stderr_fileno, self.stderr_fileno)
-            os.close(self.original_stderr_fileno)
+        elif os.name == "nt":
+            msvcrt = ctypes.CDLL("msvcrt")
+            kernel32 = ctypes.WinDLL("kernel32", use_last_error=True)
+
+            sys.stderr.flush()
+            msvcrt.fflush(None)
+            msvcrt._dup2(self.original_stderr_fileno, self.stderr_fileno)
+
+            STDERR_HANDLE = -12
+            orig_os_handle = msvcrt._get_osfhandle(self.original_stderr_fileno)
+            kernel32.SetStdHandle(STDERR_HANDLE, orig_os_handle)
+
+        os.close(self.original_stderr_fileno)
         self.stderr_fileno = None
         self.original_stderr_fileno = None
 

genesis/utils/mjcf.py

@@ -1,9 +1,10 @@
 import os
 import xml.etree.ElementTree as ET
-from contextlib import redirect_stderr
+import contextlib
 from pathlib import Path
 from itertools import chain
 from bisect import bisect_right
+import io
 
 import numpy as np
 import trimesh
@@ -112,7 +113,6 @@ def build_model(xml, discard_visual, default_armature=None, merge_fixed_links=Fa
             # Parse updated URDF file as a string
             data = ET.tostring(root, encoding="utf8")
             mj = mujoco.MjModel.from_xml_string(data)
-
             # Special treatment for URDF
             if is_urdf_file:
                 # Discard placeholder inertias that were used to avoid parsing failure
@@ -151,9 +151,10 @@ def parse_xml(morph, surface):
     # Build model from XML (either URDF or MJCF)
     mj = build_model(morph.file, not morph.visualization, morph.default_armature, merge_fixed_links, links_to_keep)
 
-    # Check if there is any tendon. Report a warning if so.
-    if mj.ntendon:
-        gs.logger.warning("(MJCF) Tendon not supported")
+    # We have another more informative warning later so we suppress this one
+    # gs.logger.warning(f"(MJCF) Approximating tendon by joint actuator for `{j_info['name']}`")
+    # if mj.ntendon:
+    #     gs.logger.warning("(MJCF) Tendon not supported")
 
     # Parse all geometries grouped by parent joint (or world)
     links_g_infos = parse_geoms(mj, morph.scale, surface, morph.file)
@@ -333,15 +334,16 @@ def parse_link(mj, i_l, scale):
                 biasprm = mj.actuator_biasprm[i_a]
                 if gainprm[1:].any() or biasprm[0]:
                     gs.logger.warning(
-                        "(MJCF) Actuator control gain and bias parameters not supported. Using default values."
+                        "(MJCF) Actuator control gain and bias parameters not supported. "
+                        f"Using default values for joint `{j_info['name']}`"
                     )
                     actuator_kp = gu.default_dofs_kp(1)[0]
                     actuator_kv = gu.default_dofs_kv(1)[0]
                 elif gainprm[0] != -biasprm[1]:
                     # Doing our best to approximate the expected behavior: g0 * p_target + b1 * p_mes + b2 * v_mes
                     gs.logger.warning(
                         "(MJCF) Actuator control gain and bias parameters cannot be reduced to a unique PD control "
-                        "position gain. Using max between gain and bias."
+                        f"position gain. Using max between gain and bias for joint `{j_info['name']}`."
                     )
                     actuator_kp = min(-gainprm[0], biasprm[1])
                     actuator_kv = biasprm[2]

tests/test_rigid_physics.py

@@ -1758,7 +1758,7 @@ def test_mesh_repair(convexify, show_viewer):
 
 
 @pytest.mark.required
-@pytest.mark.parametrize("euler", [(90, 0, 90), (74, 15, 90)])
+@pytest.mark.parametrize("euler", [(90, 0, 90), (76, 15, 90)])
 @pytest.mark.parametrize("backend", [gs.cpu, gs.gpu])
 def test_convexify(euler, backend, show_viewer):
     OBJ_OFFSET_X = 0.0  # 0.02