Simulation platform for general-purpose robotics & embodied AI learning.
This report presents the forensic synthetic code analysis of Genesis-Embodied-AI/Genesis, a Python project with 29,679 GitHub stars. SynthScan v2.0 examined 232,885 lines of code across 583 source files, recording 2674 pattern matches distributed across 19 syntactic categories. The overall adjusted score of 20.9 places this repository in the Moderate AI signal band.
The scanner applied 160+ deterministic lexical heuristics, multi-line block detectors, abstract syntax tree depth profilers, and a cross-file Jaccard similarity matrix to construct a statistically normalised synthetic code estimate. All matches are individually weighted by severity coefficient and contextual multiplier before summation, and the resulting headline score is temporally discounted to account for the repository's development history relative to the commercial emergence of large language model coding tooling (November 2022 onward).
This chart maps the temporal evolution of the adjusted synthetic code score across successive scan runs. An upward trajectory indicates ongoing incorporation of AI-generated code or expanding LLM-assisted scaffolding; a stable or declining trajectory may reflect active human refactoring, code removal, or the adoption of stricter authorship policies. The dashed secondary line (right axis) independently tracks total raw pattern hit count, which can diverge from the normalised score when codebase size changes significantly between scans.
Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.
This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.
The scanner identified 2674 distinct pattern matches across 19 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.
Reading the findings table: The Severity column indicates the diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| CRITICAL⚡ | tests/utils.py | 1132 | # Acceleration pre- VS post-implicit damping gs_qacc_post = gs_sim.rigid_solver.dyn_state.dofs.acc.to_numpy()[:, 0] | COMMENT |
| CRITICAL⚡ | tests/utils.py | 860 | gs_inertia_i = gs_sim.rigid_solver.dyn_info.links.inertial_i.to_numpy()[gs_i, [0, 1, 2], [0, 1, 2]] | CODE |
| CRITICAL⚡ | tests/utils.py | 863 | gs_ipos_i = gs_sim.rigid_solver.dyn_info.links.inertial_pos.to_numpy()[gs_i] | CODE |
| CRITICAL⚡ | tests/utils.py | 866 | gs_iquat_i = gs_sim.rigid_solver.dyn_info.links.inertial_quat.to_numpy()[gs_i] | CODE |
| CRITICAL⚡ | tests/utils.py | 869 | gs_pos_i = gs_sim.rigid_solver.dyn_info.links.pos.to_numpy()[gs_i] | CODE |
| CRITICAL⚡ | tests/utils.py | 872 | gs_quat_i = gs_sim.rigid_solver.dyn_info.links.quat.to_numpy()[gs_i] | CODE |
| CRITICAL⚡ | tests/utils.py | 875 | gs_mass_i = gs_sim.rigid_solver.dyn_info.links.inertial_mass.to_numpy()[gs_i] | CODE |
| CRITICAL⚡ | tests/utils.py | 880 | gs_dof_damping = gs_sim.rigid_solver.dyn_info.dofs.damping.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 884 | gs_dof_armature = gs_sim.rigid_solver.dyn_info.dofs.armature.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 889 | gs_dof_stiffness = gs_sim.rigid_solver.dyn_info.dofs.stiffness.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 894 | gs_dof_invweight0 = gs_sim.rigid_solver.dyn_info.dofs.invweight.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 898 | gs_dof_dof_frictionloss = gs_sim.rigid_solver.dyn_info.dofs.frictionloss.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 944 | gs_act_gain = gs_sim.rigid_solver.dyn_info.dofs.act_gain.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 945 | gs_act_bias = gs_sim.rigid_solver.dyn_info.dofs.act_bias.to_numpy() | CODE |
| CRITICAL⚡ | tests/utils.py | 969 | gs_crb_inertial = gs_sim.rigid_solver.dyn_state.links.crb_inertial.to_numpy()[:, 0].reshape([-1, 9])[ | CODE |
| CRITICAL⚡ | tests/utils.py | 974 | gs_crb_pos = gs_sim.rigid_solver.dyn_state.links.crb_pos.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 977 | gs_crb_mass = gs_sim.rigid_solver.dyn_state.links.crb_mass.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 991 | gs_qfrc_bias = gs_sim.rigid_solver.dyn_state.dofs.qf_bias.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 994 | gs_qfrc_passive = gs_sim.rigid_solver.dyn_state.dofs.qf_passive.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 997 | gs_qfrc_actuator = gs_sim.rigid_solver.dyn_state.dofs.qf_applied.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1001 | gs_n_contacts = gs_sim.rigid_solver.collider._collider_state.n_contacts.to_numpy()[0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1009 | gs_contact_pos = gs_sim.rigid_solver.collider._collider_state.contact_data.pos.to_numpy()[:gs_n_contacts, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1116 | gs_qfrc_constraint = gs_sim.rigid_solver.dyn_state.dofs.qf_constraint.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1120 | gs_qfrc_all = gs_sim.rigid_solver.dyn_state.dofs.force.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1124 | gs_qfrc_smooth = gs_sim.rigid_solver.dyn_state.dofs.qf_smooth.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1128 | gs_qacc_smooth = gs_sim.rigid_solver.dyn_state.dofs.acc_smooth.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1141 | gs_qacc_post = gs_sim.rigid_solver.dyn_state.dofs.acc.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1145 | gs_qvel = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1154 | gs_com = gs_sim.rigid_solver.dyn_state.links.root_COM.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1155 | gs_root_idx = np.unique(gs_sim.rigid_solver.dyn_info.links.root_idx.to_numpy()[gs_bodies_idx]) | CODE |
| CRITICAL⚡ | tests/utils.py | 1160 | gs_xipos = gs_sim.rigid_solver.dyn_state.links.i_pos.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1164 | gs_xpos = gs_sim.rigid_solver.dyn_state.links.pos.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1168 | gs_xquat = gs_sim.rigid_solver.dyn_state.links.quat.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1173 | gs_cd_vel = gs_sim.rigid_solver.dyn_state.links.cd_vel.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1176 | gs_cd_ang = gs_sim.rigid_solver.dyn_state.links.cd_ang.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1180 | gs_cdof_vel = gs_sim.rigid_solver.dyn_state.dofs.cdof_vel.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1183 | gs_cdof_ang = gs_sim.rigid_solver.dyn_state.dofs.cdof_ang.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1188 | gs_cdof_dot_ang = gs_sim.rigid_solver.dyn_state.dofs.cdofd_ang.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1192 | gs_cdof_dot_vel = gs_sim.rigid_solver.dyn_state.dofs.cdofd_vel.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1196 | gs_cinr_inertial = gs_sim.rigid_solver.dyn_state.links.cinr_inertial.to_numpy()[:, 0].reshape([-1, 9])[ | CODE |
| CRITICAL⚡ | tests/utils.py | 1201 | gs_cinr_pos = gs_sim.rigid_solver.dyn_state.links.cinr_pos.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1204 | gs_cinr_mass = gs_sim.rigid_solver.dyn_state.links.cinr_mass.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1232 | mj_sim.data.qvel[mj_dofs_idx] = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1234 | mj_sim.data.qacc_smooth[mj_dofs_idx] = gs_sim.rigid_solver.dyn_state.dofs.acc_smooth.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/utils.py | 1237 | qvel_prev = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0] | CODE |
| CRITICAL | tests/utils.py | 378 | gs_sim.rigid_solver.dyn_state.dofs.qf_constraint.fill(0.0) | CODE |
| CRITICAL | tests/utils.py | 389 | mj_sim.data.qvel[mj_dofs_idx] = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0] | CODE |
| CRITICAL | tests/utils.py | 842 | for i in set(gs_sim.rigid_solver.dyn_info.links.root_idx.to_numpy()[gs_bodies_idx]) | CODE |
| CRITICAL | tests/utils.py | 849 | gs_invweight_i = gs_sim.rigid_solver.dyn_info.links.invweight.to_numpy()[gs_i] | CODE |
| CRITICAL | tests/utils.py | 1024 | gs_contact_normal = gs_sim.rigid_solver.collider._collider_state.contact_data.normal.to_numpy()[ | CODE |
| CRITICAL | tests/utils.py | 1029 | gs_penetration = gs_sim.rigid_solver.collider._collider_state.contact_data.penetration.to_numpy()[ | CODE |
| CRITICAL | tests/utils.py | 1103 | if not (gs_sim.rigid_solver.dyn_info.dofs.frictionloss.to_numpy() > gs.EPS).any(): | CODE |
| CRITICAL | tests/core/test_quadrants.py | 116 | actual_contacts = scene.rigid_solver.collider._collider_state.n_contacts.to_numpy() | CODE |
| CRITICAL⚡ | tests/integration/test_integration.py | 192 | links_pos_0 = scene.rigid_solver.dyn_state.links.pos.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/integration/test_integration.py | 193 | links_quat_0 = scene.rigid_solver.dyn_state.links.quat.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/integration/test_integration.py | 202 | links_pos_f = scene.rigid_solver.dyn_state.links.pos.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/integration/test_integration.py | 203 | links_quat_f = scene.rigid_solver.dyn_state.links.quat.to_numpy()[:, 0] | CODE |
| CRITICAL⚡ | tests/rigid/test_narrowphase.py | 414 | self.scene_analytical._sim.rigid_solver._errno.fill(0) | CODE |
| CRITICAL⚡ | tests/rigid/test_narrowphase.py | 421 | self.scene_gjk._sim.rigid_solver._errno.fill(0) | CODE |
| CRITICAL | tests/rigid/test_friction.py | 27 | gs_qvel = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy() | CODE |
| 78 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM⚡ | tests/utils.py | 1152 | # ------------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | tests/particles/test_sph.py | 258 | # ============================================================================= | COMMENT |
| MEDIUM⚡ | tests/particles/test_sph.py | 260 | # ============================================================================= | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 205 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 216 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 827 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 829 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 876 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 878 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 939 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 941 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 1064 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | tests/benchmarks/test_rigid.py | 1066 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 30 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 32 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 86 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 88 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 144 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 146 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 164 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 166 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 414 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 416 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 977 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/watertighten.py | 979 | # =============================================================================================================== | COMMENT |
| MEDIUM | genesis/utils/geom.py | 13 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 15 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 678 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 680 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 1806 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 1808 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 2388 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/geom.py | 2390 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/path_planning.py | 77 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/path_planning.py | 79 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/path_planning.py | 1005 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/utils/path_planning.py | 1007 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/vis/viewer.py | 446 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/vis/viewer.py | 448 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/vis/visualizer.py | 266 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/vis/visualizer.py | 268 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/scene.py | 1593 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/scene.py | 1595 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/scene.py | 1618 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/scene.py | 1620 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 244 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 246 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 268 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 270 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | genesis/engine/simulator.py | 349 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | genesis/engine/simulator.py | 351 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 406 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 408 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 438 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/simulator.py | 440 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/couplers/legacy_coupler.py | 27 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/couplers/legacy_coupler.py | 29 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/couplers/sap_coupler.py | 154 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/couplers/sap_coupler.py | 156 | # ------------------------------------------------------------------------------------ | COMMENT |
| MEDIUM | genesis/engine/couplers/sap_coupler.py | 216 | # ------------------------------------------------------------------------------------ | COMMENT |
| 282 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tests/conftest.py | 105 | def is_mem_monitoring_supported(): | CODE |
| LOW | tests/conftest.py | 116 | def pytest_make_parametrize_id(config, val, argname): | CODE |
| LOW | tests/conftest.py | 335 | def pytest_xdist_auto_num_workers(config): | CODE |
| LOW | tests/conftest.py | 402 | def pytest_collection_modifyitems(config, items): | CODE |
| LOW | tests/conftest.py | 479 | def pytest_runtest_makereport(item, call): | CODE |
| LOW | tests/gpu_info.py | 33 | def get_device_index_from_uuid(self, device_uuid: str) -> int: | CODE |
| LOW | tests/gpu_info.py | 74 | def get_device_index_from_uuid(self, device_uuid: str) -> int: | CODE |
| LOW | tests/gpu_info.py | 142 | def get_device_index_from_uuid(self, device_uuid: str) -> int: | CODE |
| LOW⚡ | tests/utils.py | 953 | def check_mujoco_data_consistency( | CODE |
| LOW⚡ | tests/utils.py | 1209 | def simulate_and_check_mujoco_consistency( | CODE |
| LOW | tests/utils.py | 393 | def _gs_search_by_joints_name( | CODE |
| LOW | tests/utils.py | 634 | def get_mujoco_midpoint_dofs_mask(mj_sim): | CODE |
| LOW | tests/utils.py | 775 | def check_mujoco_model_consistency( | CODE |
| LOW | tests/utils.py | 1261 | def get_genuine_interpenetration(links, cross_tol=1e-3, n_dir=40, n_bisect=9, is_exact=True): | CODE |
| LOW | tests/grad/conftest.py | 38 | def grad_revolute_frictionloss(): | CODE |
| LOW | tests/grad/conftest.py | 124 | def grad_hinge_pair_joint_eq_linear(): | CODE |
| LOW | tests/grad/conftest.py | 137 | def grad_hinge_pair_joint_eq_quadratic(): | CODE |
| LOW | tests/grad/test_rigid_optim.py | 16 | def test_reference_trajectory_recovery_converges(control_target, grad_cartpole, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_optim.py | 89 | def test_goal_pose_optimization_converges(show_viewer): | CODE |
| LOW | tests/grad/test_rigid_collision.py | 16 | def test_contact_per_step_force_grad_matches_fd(shape, grad_capsule, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_collision.py | 151 | def test_contact_no_tunneling_forward(show_viewer): | CODE |
| LOW | tests/grad/test_rigid_collision.py | 196 | def test_diff_unsupported_configuration_raises(): | CODE |
| LOW | tests/grad/test_rigid_collision.py | 268 | def test_contact_detection_jacobian_matches_fd(): | CODE |
| LOW | tests/grad/test_rigid_collision.py | 348 | def test_constraint_solver_backward_matches_fd(monkeypatch): | CODE |
| LOW | tests/grad/test_rigid_collision.py | 383 | def constraint_solver_resolve(): | CODE |
| LOW | tests/grad/test_rigid_dynamics.py | 136 | def test_fk_multistep_force_grad_matches_fd(model_name, request, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_dynamics.py | 198 | def test_per_step_pd_target_grad_matches_fd(control_mode, grad_revolute, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_constraints.py | 15 | def test_joint_limit_grad_matches_fd(grad_slider_limit, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_constraints.py | 102 | def test_per_step_force_into_limit_grad_matches_fd(model_name, request, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_constraints.py | 153 | def test_frictionloss_grad_matches_fd(grad_revolute_frictionloss, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_constraints.py | 191 | def test_equality_grad_matches_fd(model_name, n_rows, request, precision, show_viewer): | CODE |
| LOW | tests/grad/test_rigid_constraints.py | 226 | def test_all_constraint_groups_grad_matches_fd(grad_all_eq_fric, precision, show_viewer): | CODE |
| LOW | tests/grad/test_grad_tape.py | 14 | def test_horizon_truncation_matches_independent_scenes(model_name, request, show_viewer): | CODE |
| LOW | tests/grad/test_grad_tape.py | 82 | def test_sim_vs_solver_state_grad_parity(show_viewer): | CODE |
| LOW | tests/sensors/test_camera.py | 34 | def test_rasterizer_non_batched(n_envs, show_viewer): | CODE |
| LOW | tests/sensors/test_camera.py | 279 | def test_rasterizer_attached_batched(show_viewer, png_snapshot, tol): | CODE |
| LOW | tests/sensors/test_camera.py | 441 | def test_batch_renderer_destroy(): | CODE |
| LOW | tests/sensors/test_camera.py | 700 | def test_destroy_unbuilt_scene_with_camera(): | CODE |
| LOW | tests/sensors/test_camera.py | 709 | def test_destroy_idempotent_with_camera(): | CODE |
| LOW | tests/sensors/test_temperature.py | 11 | def test_grid_sensor_contact_and_reset(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_temperature.py | 116 | def test_grid_simulate_all_link_temps(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_joint_torque.py | 38 | def joint_torque_contact_pendulum(): | CODE |
| LOW | tests/sensors/test_joint_torque.py | 137 | def test_joint_torque_with_contact(joint_torque_contact_pendulum, show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_imu.py | 176 | def test_lone_sensor_resolution_and_offset_setter(show_viewer, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 15 | def test_surface_distance_sensor_box_sphere(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 165 | def test_kinematic_contact_probe_box_sphere_support(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 374 | def test_raycast_probe_on_fully_fixed_solver(show_viewer): | CODE |
| LOW | tests/sensors/test_tactile.py | 412 | def test_contact_probe_hysteresis(show_viewer): | CODE |
| LOW | tests/sensors/test_tactile.py | 506 | def test_contact_depth_probe_hysteresis_gain_and_dead_resample(show_viewer, tol): | CODE |
| LOW | tests/sensors/test_tactile.py | 632 | def test_filler_probes_radius_zero(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 757 | def test_contact_depth_query_sdf_vs_raycast_parity(show_viewer): | CODE |
| LOW | tests/sensors/test_tactile.py | 862 | def test_filtered_contact_survives_prefilter_cap(show_viewer, monkeypatch, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 917 | def test_kinematic_taxel_crosstalk(show_viewer): | CODE |
| LOW | tests/sensors/test_tactile.py | 1082 | def test_gaussian_crosstalk_kernel_helper(): | CODE |
| LOW | tests/sensors/test_tactile.py | 1100 | def test_proximity_taxel_crosstalk(show_viewer): | CODE |
| LOW | tests/sensors/test_tactile.py | 1175 | def test_proximity_taxel_twist_torque(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 1263 | def test_proximity_sensor_box_on_box(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 1341 | def test_elastomer_sensor_sphere_ground_dilate_shear(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 1464 | def test_elastomer_sensor_grid_box_sphere(show_viewer, tol, n_envs): | CODE |
| LOW | tests/sensors/test_tactile.py | 1686 | def test_heterogeneous_object(show_viewer, tol): | CODE |
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| LOW | tests/upload_benchmarks_table_to_wandb.py | 20 | CODE | |
| LOW | tests/upload_benchmarks_table_to_wandb.py | 21 | CODE | |
| LOW | tests/upload_benchmarks_table_to_wandb.py | 22 | CODE | |
| LOW | tests/grad/utils.py | 4 | CODE | |
| LOW | tests/sensors/test_camera.py | 18 | CODE | |
| LOW | tests/sensors/test_camera.py | 24 | CODE | |
| LOW | tests/parsers/test_mesh.py | 19 | CODE | |
| LOW | tests/parsers/test_mesh.py | 19 | CODE | |
| LOW | tests/parsers/test_mesh.py | 19 | CODE | |
| LOW | tests/parsers/test_usd.py | 20 | CODE | |
| LOW | tests/rigid/test_narrowphase.py | 45 | CODE | |
| LOW | tests/ipc/test_rigid.py | 9 | CODE | |
| LOW | tests/ipc/test_rigid.py | 29 | CODE | |
| LOW | tests/ipc/test_deformable.py | 9 | CODE | |
| LOW | tests/ipc/test_deformable.py | 26 | CODE | |
| LOW | tests/ipc/utils.py | 5 | CODE | |
| LOW | tests/ipc/test_api.py | 6 | CODE | |
| LOW | tests/ipc/test_api.py | 19 | CODE | |
| LOW | tests/rendering/conftest.py | 70 | CODE | |
| LOW | tests/rendering/test_imgui_overlay.py | 16 | CODE | |
| LOW | tests/rendering/test_interactive_viewer.py | 7 | CODE | |
| LOW | examples/sensors/tactile_sandbox.py | 24 | CODE | |
| LOW | examples/sensors/tactile_sandbox.py | 25 | CODE | |
| LOW | examples/sensors/camera_as_sensor.py | 21 | CODE | |
| LOW | examples/sensors/camera_as_sensor.py | 30 | CODE | |
| LOW | examples/sensors/tactile_franka.py | 21 | CODE | |
| LOW | examples/sensors/tactile_franka.py | 22 | CODE | |
| LOW | examples/manipulation/grasp_env.py | 18 | CODE | |
| LOW | examples/viewer_plugin/mesh_point_selector.py | 16 | CODE | |
| LOW | examples/viewer_plugin/mesh_point_selector.py | 18 | CODE | |
| LOW | examples/drone/fly_route.py | 10 | CODE | |
| LOW | examples/drone/quadcopter_controller.py | 9 | CODE | |
| LOW | .github/workflows/scripts/alarm.py | 32 | CODE | |
| LOW | .github/workflows/scripts/alarm.py | 40 | CODE | |
| LOW | genesis/__init__.py | 461 | CODE | |
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| LOW | tests/monitor_test_mem.py | 63 | CODE | |
| LOW | tests/conftest.py | 335 | CODE | |
| LOW | tests/conftest.py | 442 | CODE | |
| LOW | tests/gpu_info.py | 85 | CODE | |
| LOW | tests/utils.py | 193 | CODE | |
| LOW | tests/utils.py | 393 | CODE | |
| LOW | tests/utils.py | 442 | CODE | |
| LOW | tests/utils.py | 479 | CODE | |
| LOW | tests/utils.py | 953 | CODE | |
| LOW | tests/utils.py | 1261 | CODE | |
| LOW | tests/upload_benchmarks_table_to_wandb.py | 27 | CODE | |
| LOW | tests/grad/test_rigid_collision.py | 16 | CODE | |
| LOW | tests/grad/test_rigid_collision.py | 17 | CODE | |
| LOW | tests/grad/utils.py | 72 | CODE | |
| LOW | tests/core/test_utils.py | 34 | CODE | |
| LOW | tests/core/test_utils.py | 82 | CODE | |
| LOW | tests/core/test_utils.py | 204 | CODE | |
| LOW | tests/core/test_utils.py | 460 | CODE | |
| LOW | tests/core/test_bvh.py | 123 | CODE | |
| LOW | tests/rigid/conftest.py | 95 | CODE | |
| LOW | tests/rigid/test_narrowphase.py | 115 | CODE | |
| LOW | tests/rigid/test_narrowphase.py | 205 | CODE | |
| LOW | tests/rigid/test_narrowphase.py | 228 | CODE | |
| LOW | tests/rigid/test_narrowphase.py | 437 | CODE | |
| LOW | tests/rigid/test_dynamics.py | 176 | CODE | |
| LOW | tests/rigid/test_collision.py | 563 | CODE | |
| LOW | tests/rigid/test_collision.py | 627 | CODE | |
| LOW | tests/rigid/test_collision.py | 1052 | CODE | |
| LOW | tests/rigid/test_api.py | 28 | CODE | |
| LOW | tests/rigid/test_asset_loading.py | 502 | CODE | |
| LOW | tests/rigid/test_asset_loading.py | 1021 | CODE | |
| LOW | tests/rigid/test_kinematics.py | 590 | CODE | |
| LOW | tests/benchmarks/test_rigid.py | 37 | CODE | |
| LOW | tests/benchmarks/test_rigid.py | 107 | CODE | |
| LOW | tests/ipc/test_rigid.py | 323 | CODE | |
| LOW | tests/rendering/test_dynamic_meshes.py | 344 | CODE | |
| LOW | tests/rendering/test_offscreen.py | 187 | CODE | |
| LOW | tests/rendering/test_offscreen.py | 422 | CODE | |
| LOW | examples/sensors/surface_distance_shadowhand.py | 32 | CODE | |
| LOW | examples/sensors/tactile_sandbox.py | 236 | CODE | |
| LOW | examples/sensors/tactile_sandbox.py | 260 | CODE | |
| LOW | examples/sensors/tactile_franka.py | 111 | CODE | |
| LOW | examples/sensors/tactile_franka.py | 177 | CODE | |
| LOW | examples/sensors/tactile_franka.py | 202 | CODE | |
| LOW | examples/sensors/depth_camera_custom_vverts.py | 15 | CODE | |
| LOW | examples/manipulation/grasp_env.py | 362 | CODE | |
| LOW | examples/rigid/hibernation.py | 28 | CODE | |
| LOW | examples/rigid/friction_breakaway.py | 61 | CODE | |
| LOW | examples/rigid/set_phys_attr.py | 8 | CODE | |
| LOW | examples/rigid/control_franka.py | 8 | CODE | |
| LOW | examples/rigid/merge_entities.py | 14 | CODE | |
| LOW | examples/tutorials/draw_debug.py | 7 | CODE | |
| LOW | examples/ipc/ipc_momentum.py | 11 | CODE | |
| LOW | examples/ipc/ipc_momentum.py | 86 | CODE | |
| LOW | examples/speed_benchmark/timers.py | 18 | CODE | |
| LOW | .github/workflows/scripts/alarm.py | 353 | CODE | |
| LOW | genesis/repr_base.py | 16 | CODE | |
| LOW | genesis/_main.py | 12 | CODE | |
| LOW | genesis/_main.py | 98 | CODE | |
| LOW | genesis/_main.py | 155 | CODE | |
| 365 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | tests/monitor_test_mem.py | 9 | # This module is launched as a standalone script ('python tests/monitor_test_mem.py'), so its own directory is | COMMENT |
| MEDIUM | tests/sensors/test_api.py | 30 | # Create a fake plugin package in a temp directory | COMMENT |
| MEDIUM | tests/parsers/test_usd.py | 208 | # Create a simple triangle mesh with intentionally mismatched UVs | COMMENT |
| MEDIUM | tests/core/test_utils.py | 392 | # Create a matrix that will have det(U) = -1 by using a reflection | COMMENT |
| MEDIUM | tests/rigid/test_kinematics.py | 419 | # Define a local offset point in the end-effector frame (e.g., 10cm along Z-axis) | COMMENT |
| MEDIUM | tests/rendering/test_interactive_viewer.py | 217 | # Create a scene | COMMENT |
| MEDIUM | examples/rigid/single_franka_batch_render.py | 102 | # Create an image exporter | COMMENT |
| MEDIUM | genesis/__init__.py | 163 | # Define the right dtypes in accordance with selected backend and precision | COMMENT |
| MEDIUM | genesis/ext/urdfpy/urdf.py | 2771 | # Create the link graph and base link/end link sets | COMMENT |
| MEDIUM | genesis/ext/urdfpy/urdf.py | 3513 | # Create an array of times that loops from 0 to 1 and back to 0 | COMMENT |
| MEDIUM | genesis/ext/urdfpy/urdf.py | 3527 | # Create the new interpolated trajectory | COMMENT |
| MEDIUM | genesis/ext/urdfpy/urdf.py | 3532 | # Create the scene | COMMENT |
| MEDIUM | genesis/ext/pyrender/mesh.py | 209 | # Create the primitive | COMMENT |
| MEDIUM | genesis/ext/pyrender/platforms/egl.py | 244 | # Create an EGL context | COMMENT |
| MEDIUM | genesis/utils/hybrid.py | 246 | # Create the 3D figure | COMMENT |
| MEDIUM | genesis/utils/mesh.py | 971 | # Define the vertices of the frustum | COMMENT |
| MEDIUM | genesis/utils/mesh.py | 986 | # Define the faces of the frustum | COMMENT |
| MEDIUM | genesis/utils/mesh.py | 1001 | # Create the frustum mesh | COMMENT |
| MEDIUM | genesis/utils/usd/__init__.py | 29 | >>> # Create a USD morph and parse the stage | STRING |
| MEDIUM | genesis/engine/couplers/ipc_coupler/coupler.py | 1008 | # This method handles both volumetric FEM (3D) and cloth (2D) post-processing | COMMENT |
| MEDIUM | genesis/engine/sensors/sensor_manager.py | 66 | # Create the shared context before the sensor, so the instance exists to hand to it. ``NoneType`` marks | COMMENT |
| MEDIUM | genesis/engine/sensors/camera.py | 69 | # Create a minimal rasterizer context for camera frustum visualization (required by BatchRenderer even though | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/collider/diff_gjk.py | 578 | # Define the face (possibly) on the boundary of the Minkowski difference in the default configuration | COMMENT |
| MEDIUM | genesis/engine/entities/rigid_entity/rigid_entity.py | 163 | # Initialize target variables and checkpoint | COMMENT |
| MEDIUM | genesis/engine/entities/rigid_entity/rigid_entity.py | 873 | # Define a flag that determines whether the link at hand is associated with a robot. | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | examples/viewer_plugin/mesh_point_selector.py | 229 | except Exception as e: | CODE |
| LOW | .github/workflows/scripts/alarm.py | 315 | except Exception as e: | CODE |
| LOW | genesis/repr_base.py | 71 | except Exception: | CODE |
| LOW | genesis/options/morphs.py | 1456 | except Exception: | CODE |
| LOW | genesis/grad/tensor.py | 57 | except Exception: # obj is a single tensor | CODE |
| LOW | genesis/ext/urdfpy/urdf.py | 90 | except Exception: | CODE |
| LOW⚡ | genesis/ext/pyrender/viewer.py | 709 | except Exception: | CODE |
| LOW⚡ | genesis/ext/pyrender/viewer.py | 713 | except Exception: | CODE |
| LOW⚡ | genesis/ext/pyrender/viewer.py | 717 | except Exception: | CODE |
| LOW⚡ | genesis/ext/pyrender/viewer.py | 721 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 29 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 676 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 1038 | except Exception as e: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 1236 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 1240 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 1313 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 1360 | except Exception as e: | CODE |
| LOW | genesis/ext/pyrender/offscreen.py | 272 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/offscreen.py | 284 | except Exception: | CODE |
| MEDIUM | genesis/ext/pyrender/offscreen.py | 281 | def __del__(self): | CODE |
| LOW | genesis/ext/pyrender/platforms/pyglet_platform.py | 25 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/platforms/pyglet_platform.py | 76 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/platforms/pyglet_platform.py | 100 | except Exception: | CODE |
| MEDIUM | genesis/ext/pyrender/platforms/pyglet_platform.py | 73 | def make_uncurrent(self): | CODE |
| LOW | genesis/ext/pyrender/platforms/base.py | 77 | except Exception: | CODE |
| MEDIUM | genesis/ext/pyrender/platforms/base.py | 74 | def __del__(self): | CODE |
| LOW | genesis/ext/pyrender/overlay/plugin.py | 303 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/overlay/plugin.py | 309 | except Exception: | CODE |
| LOW | genesis/ext/pyrender/overlay/plugin.py | 331 | except Exception as e: | CODE |
| MEDIUM | genesis/ext/pyrender/overlay/plugin.py | 298 | def _get_clipboard(_ctx): | CODE |
| MEDIUM | genesis/ext/pyrender/overlay/plugin.py | 306 | def _set_clipboard(_ctx, text): | CODE |
| LOW | genesis/utils/misc.py | 565 | except Exception: | CODE |
| LOW | genesis/utils/mesh.py | 319 | except Exception as e: | CODE |
| LOW | genesis/utils/particle.py | 310 | except Exception as e: | CODE |
| MEDIUM | genesis/utils/particle.py | 289 | def _splashsurf_worker(positions, radius, args_dict, result_queue): | CODE |
| LOW | genesis/utils/usd/usd_context.py | 130 | except Exception as e: | CODE |
| LOW | genesis/recorders/plotters.py | 275 | except Exception as e: | CODE |
| LOW | genesis/recorders/plotters.py | 438 | except Exception as e: | CODE |
| LOW | genesis/vis/viewer.py | 195 | except Exception: | CODE |
| LOW | genesis/vis/visualizer.py | 48 | except Exception as e: | CODE |
| LOW | genesis/vis/visualizer.py | 61 | except Exception as e: | CODE |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 771 | except Exception as e: | CODE |
| LOW | genesis/engine/sensors/base_sensor.py | 63 | except Exception: | CODE |
| MEDIUM | genesis/engine/sensors/base_sensor.py | 60 | def __del__(self): | CODE |
| LOW | genesis/engine/sensors/sensor_manager.py | 123 | except Exception: | CODE |
| LOW | genesis/engine/entities/drone_entity.py | 32 | except Exception: | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | docker/build_luisa.sh | 3 | # Check if Python version is provided | COMMENT |
| LOW | tests/utils.py | 161 | # Check if the current commit is contained by main branch | COMMENT |
| LOW | tests/rigid/test_terrain.py | 102 | # Check if cache is being reloaded as expected | COMMENT |
| LOW | tests/rigid/test_kinematics.py | 689 | # Check if the cube is colliding with the robot | COMMENT |
| LOW | examples/sensors/depth_camera_custom_vverts.py | 129 | # Set Go2 to a standing pose | COMMENT |
| LOW | genesis/utils/geom.py | 1476 | # Check if batched | COMMENT |
| LOW | genesis/utils/geom.py | 1690 | # Check if batched | COMMENT |
| LOW | genesis/utils/raycast_qd.py | 92 | # Check if ray hits the node's bounding box | COMMENT |
| LOW | genesis/utils/gltf.py | 164 | # Check if material has a base color texture | COMMENT |
| LOW | genesis/utils/usd/__init__.py | 42 | # Check if USD support is available before importing modules that depend on it | COMMENT |
| LOW | genesis/vis/rasterizer_context.py | 243 | # Check if the node has a valid name | COMMENT |
| LOW | genesis/vis/rasterizer_context.py | 247 | # Check if the name is already in use | COMMENT |
| LOW | genesis/engine/bvh.py | 493 | # Check if the AABB intersects with the node's bounding box | COMMENT |
| LOW | genesis/engine/bvh.py | 498 | # Check if the filter condition is met | COMMENT |
| LOW | genesis/engine/couplers/ipc_coupler/utils.py | 61 | # Check if there is any non-fixed joint | COMMENT |
| LOW | genesis/engine/couplers/ipc_coupler/coupler.py | 25 | # Check if libuipc is available | COMMENT |
| LOW | genesis/engine/couplers/ipc_coupler/coupler.py | 111 | # Check if uipc is available | COMMENT |
| LOW | genesis/engine/couplers/ipc_coupler/coupler.py | 921 | # Set delta_theta_tilde to IPC geometry | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/collider/gjk_utils.py | 109 | # Check if the point predicted by the affine coordinates is equal to the point itself | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/diff_gjk.py | 290 | # Check if there is any duplicate contact point. | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/diff_gjk.py | 461 | # Check if the memory space is enough for attaching new faces | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/epa.py | 151 | # Check if the memory space is enough for attaching new faces | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/epa.py | 622 | # Check if v4 or v5 located inside the triangle. | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/epa.py | 1027 | # Check if the memory space is enough for attaching new faces | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/multi_contact.py | 161 | # Check if any of the edge normals match | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 557 | # Check if the objects are separated using support vector | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 773 | # Check if the origin is strictly outside of the Minkowski difference (which means there is no collision) | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1203 | # Check if the new vertex would make a valid simplex. | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1276 | # Check if the new vertex would make a valid simplex. | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1318 | # Check if the origin is strictly outside of the Minkowski difference (which means there is no collision) | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1384 | # Check if the new vertex is not very close to the existing vertices | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1502 | # Check if the new vertex is valid | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1538 | # Check if the new vertex is valid | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 1725 | # Check if the updated simplex would be a degenerate simplex. | COMMENT |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 862 | # Check if there is something weird with the options | COMMENT |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 1484 | # Check if base link was fixed but no longer is | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | tests/sensors/test_tactile.py | 579 | # Step 1: no contact. All zero. | COMMENT |
| LOW⚡ | tests/sensors/test_tactile.py | 585 | # Step 2: jump to BOX_Z_ON. GT should equal plain measured (both = D). Hyst measured = D*(1+strength). | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1087 | # Step 2: z = D^{-1} w | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1093 | # Step 3: Solve x st. L @ x = z | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1127 | # Step 2: z = D^{-1} w | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1132 | # Step 3: Solve x st. L @ x = z | COMMENT |
| LOW | genesis/engine/couplers/sap_coupler.py | 1074 | # Step 1: Solve w st. L^T @ w = y | COMMENT |
| LOW | genesis/engine/couplers/sap_coupler.py | 1115 | # Step 1: Solve w st. L^T @ w = y | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 804 | # Step 1: Store Genesis rigid states (common) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 807 | # Step 2: Pre-advance processing (per entity type) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 810 | # Step 3: IPC advance + retrieve (common) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 814 | # Step 4: Retrieve states | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 818 | # Step 5: Post-advance processing (per entity type) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 823 | # Step 6: Update GUI if enabled | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/manual_bw.py | 468 | # Step 1: solve L^T . u = seed (input from [0], output to [1]) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/manual_bw.py | 478 | # Step 2: v = D^{-1} . u (output to [0], overwriting input) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/manual_bw.py | 484 | # Step 3: solve L . delta = v (input from [0], output to [1]) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 768 | # Step 2: z = D^{-1} w | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 772 | # Step 3: Solve x st. L @ x = z | COMMENT |
| LOW | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 756 | # Step 1: Solve w st. L^T @ w = y. Reading out[j_d] (j_d > i_d) from the buffer being written is safe: those | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/solver.py | 4168 | # Step 1: Solve w st. L^T @ w = y | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/solver.py | 4191 | # Step 2: Solve x st. L @ x = z | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/constraint/noslip.py | 17 | # Step 1: Solve w s.t. L^T @ w = y (backward substitution) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/constraint/noslip.py | 25 | # Step 2: z = D^{-1} @ w | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/constraint/noslip.py | 29 | # Step 3: Solve x s.t. L @ x = z (forward substitution) | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | tests/sensors/test_tactile.py | 579 | # Step 1: no contact. All zero. | COMMENT |
| LOW⚡ | tests/sensors/test_tactile.py | 585 | # Step 2: jump to BOX_Z_ON. GT should equal plain measured (both = D). Hyst measured = D*(1+strength). | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1087 | # Step 2: z = D^{-1} w | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1093 | # Step 3: Solve x st. L @ x = z | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1127 | # Step 2: z = D^{-1} w | COMMENT |
| LOW⚡ | genesis/engine/couplers/sap_coupler.py | 1132 | # Step 3: Solve x st. L @ x = z | COMMENT |
| LOW | genesis/engine/couplers/sap_coupler.py | 1074 | # Step 1: Solve w st. L^T @ w = y | COMMENT |
| LOW | genesis/engine/couplers/sap_coupler.py | 1115 | # Step 1: Solve w st. L^T @ w = y | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 804 | # Step 1: Store Genesis rigid states (common) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 807 | # Step 2: Pre-advance processing (per entity type) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 810 | # Step 3: IPC advance + retrieve (common) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 814 | # Step 4: Retrieve states | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 818 | # Step 5: Post-advance processing (per entity type) | COMMENT |
| LOW⚡ | genesis/engine/couplers/ipc_coupler/coupler.py | 823 | # Step 6: Update GUI if enabled | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/manual_bw.py | 468 | # Step 1: solve L^T . u = seed (input from [0], output to [1]) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/manual_bw.py | 478 | # Step 2: v = D^{-1} . u (output to [0], overwriting input) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/manual_bw.py | 484 | # Step 3: solve L . delta = v (input from [0], output to [1]) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 768 | # Step 2: z = D^{-1} w | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 772 | # Step 3: Solve x st. L @ x = z | COMMENT |
| LOW | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 756 | # Step 1: Solve w st. L^T @ w = y. Reading out[j_d] (j_d > i_d) from the buffer being written is safe: those | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/solver.py | 4168 | # Step 1: Solve w st. L^T @ w = y | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/solver.py | 4191 | # Step 2: Solve x st. L @ x = z | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/constraint/noslip.py | 17 | # Step 1: Solve w s.t. L^T @ w = y (backward substitution) | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/constraint/noslip.py | 25 | # Step 2: z = D^{-1} @ w | COMMENT |
| LOW⚡ | genesis/engine/solvers/rigid/constraint/noslip.py | 29 | # Step 3: Solve x s.t. L @ x = z (forward substitution) | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | pyproject.toml | 21 | # * No pre-compiled wheels are distributed for LibIGL v2.6.2 on Windows OS | COMMENT |
| LOW | tests/utils.py | 1521 | if is_inside_a0.all() or is_inside_b0.all(): | COMMENT |
| LOW | tests/utils.py | 1561 | else: | COMMENT |
| LOW | tests/rigid/test_control.py | 141 | # robot.control_dofs_position_velocity(MOTORS_POS_TARGET, MOTORS_VEL_TARGET, envs_idx=0) | COMMENT |
| LOW | tests/rigid/test_collision.py | 841 | scene.step() | COMMENT |
| LOW | tests/benchmarks/test_rigid.py | 201 | COMMENT | |
| LOW | tests/rendering/test_imgui_overlay.py | 21 | COMMENT | |
| LOW | genesis/ext/_trimesh_patch.py | 141 | # we need to only take the face line before a newline | COMMENT |
| LOW | genesis/ext/_trimesh_patch.py | 421 | # if we have two values per vertex the second | COMMENT |
| LOW | genesis/ext/pyrender/renderer.py | 801 | return program | COMMENT |
| LOW | genesis/utils/array_class.py | 321 | constraint_slices: IslandSlices | COMMENT |
| LOW | genesis/utils/array_class.py | 481 | # In practice, this variable is re-purposed to store the Cholesky factor L st H = L @ L.T to spare memory resources. | COMMENT |
| LOW | genesis/utils/array_class.py | 541 | # DRAM-bound once the combined per-env working sets exceed the CPU caches and batched stepping scales super-linearly | COMMENT |
| LOW | genesis/utils/array_class.py | 961 | has_terrain: bool | COMMENT |
| LOW | genesis/utils/array_class.py | 1381 | # projected point. To confirm the projection is valid, we compute the projected point using the barycentric | COMMENT |
| LOW | genesis/utils/array_class.py | 2441 | # only). When True, each entity's single-mass-block submatrix factors in registers via the same TileNxN Cholesky | COMMENT |
| LOW | genesis/utils/array_class.py | 2461 | # tensor layouts they expect, eg (_B, len_constraints_) for Jaref / efc_D / ... which unlocks coalesced cross-lane | COMMENT |
| LOW | genesis/utils/mesh.py | 481 | ): | COMMENT |
| LOW | genesis/engine/couplers/legacy_coupler.py | 841 | if signed_dist < self.pbd_solver.particle_size / 2: # skip non-penetration particles | COMMENT |
| LOW | genesis/engine/sensors/raycaster.py | 61 | # explicit set_pos/set_quat (collision) or set_vverts (visual) - all GEOMETRY mutations the subscription catches. | COMMENT |
| LOW | genesis/engine/sensors/point_cloud_tactile.py | 1921 | # Per-(env, pc-row) BVH-candidate flag, zeroed each step and written True by the surface-state | COMMENT |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 461 | # memory usage, and increasing L1/L2 cache contention. Runtime filtering keeps the single list, but it will | COMMENT |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 541 | enable_cone_free_hessian_reuse = ( | COMMENT |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 641 | # and a dynamic timer-based selection would be more accurate still. | COMMENT |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 661 | # Size it to the largest tile-size multiple that fits shared (precision-aware), but no larger | COMMENT |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 681 | # The cooperative in-place LDL^T has no cap; the shared-memory tile is faster but capped. Same env logic | COMMENT |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 721 | # GPU (one block ~= one tile = cholesky_tile_size lanes). The blocks grid-stride over the (env, | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 361 | grad_center = sdf.sdf_func_grad_world_local( | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 401 | # A is hollow but its center sits OUTSIDE B: two concave shells resting on each other (nested | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 421 | if sd_b_center < 0.0: | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 1041 | # Sample B's SDF gradient at A's geometric center when A is a convex geom (primitive or convexified mesh). For | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 1081 | # is the other side, used in lieu of the symmetric two-pass dispatch of func_narrow_phase_nonconvex_vs_nonterrain. | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 1101 | delta = geoms_init_AABB[i_ga, k] - center_local | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/narrowphase.py | 1581 | resulting Minkowski triangle gives the exact contact normal, with the penetration as the portal's distance to the | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/mpr.py | 381 | quat_b, | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/mpr.py | 681 | collider_info: array_class.ColliderInfo, | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/mpr.py | 701 | # their respective geometry. | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/contact.py | 861 | j_cb -= 1 | COMMENT |
| LOW | genesis/engine/solvers/rigid/collider/gjk.py | 41 | # Initialize static configuration. | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/solver.py | 2761 | ): | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/solver.py | 6001 | is_stalled = improvement > 0.0 and improvement < tol_scaled | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/backward.py | 321 | COMMENT | |
| LOW | genesis/engine/solvers/rigid/constraint/backward.py | 941 | # deriv enters via (jac_qvel through jac2 = -deriv) and (jac[dof2] = -deriv). | COMMENT |
| LOW | genesis/engine/solvers/rigid/constraint/backward.py | 1121 | # pos_error = ga1 - ga2 | COMMENT |
| LOW | genesis/engine/entities/rigid_entity/rigid_geom.py | 141 | # target. A non-convex geom tunnels when the cell is coarser than its thinnest wall, so the target is shrunk | COMMENT |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 621 | # Keep track of whether parsed inertia can be considered valid | COMMENT |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 1241 | for g_info in g_infos: | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | tests/rigid/test_collision.py | 846 | # It is robust to loosing a few contact points while still asserting the failure modes that matter. | COMMENT |
| MEDIUM | tests/rigid/test_collision_nonconvex.py | 549 | # a small steady contact jitter in velocity, so the position band is the robust at-rest signal. | COMMENT |
| MEDIUM | tests/rigid/test_kinematics.py | 593 | # FIXME: Implement a more robust plan planning algorithm | COMMENT |
| LOW | genesis/ext/_trimesh_patch.py | 222 | # otherwise just use unmasked vertices | COMMENT |
| MEDIUM | genesis/ext/pyrender/trackball.py | 59 | """Set the state of the trackball in order to change the effect of | STRING |
| LOW | genesis/ext/pyrender/mesh.py | 309 | # NOTE: most assets seems to have incorrect mat.diffuse when texture image exists, So let's just | COMMENT |
| MEDIUM | genesis/engine/sensors/tactile_shared.py | 416 | # Averaged step vectors across all adjacent pairs along each axis -- robust to local jitter. | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/abd/forward_dynamics.py | 263 | # [0, i_d_]. The fast-math-robust inversion is required: a raw sqrt drops the j=0 entry of | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/collider/narrowphase.py | 390 | # would eject A. The pose-robust signature is that A's own center lies in a cavity rather than inside | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/collider/narrowphase.py | 405 | # line is the stacking axis and the robust contact normal, so use it directly (b->a) for every | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/collider/narrowphase.py | 2837 | # pair, re-enqueue so the robust pass re-decides, instead of dropping it on a marginal frame. | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/collider/mpr.py | 705 | # should be fine otherwise. Anyway, this is not a big deal in practice and MPR is robust enough to converge to | COMMENT |
| MEDIUM | genesis/engine/solvers/rigid/constraint/noslip.py | 157 | # Solve each mass block once, when visiting its first dof (order-robust, unlike previous-block tracking, | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | examples/rigid/friction_breakaway.py | 0 | mjcf model of a free ball: a sphere collision geom with a checker-textured ball mesh as its visual, whose colorful patte | STRING |
| HIGH | examples/rigid/rolling_coast.py | 0 | mjcf model of a free ball: a sphere collision geom with a checker-textured ball mesh as its visual, whose colorful patte | STRING |
| HIGH | examples/rigid/torsional_grasp.py | 0 | mjcf model of a free ball: a sphere collision geom with a checker-textured ball mesh as its visual, whose colorful patte | STRING |
| HIGH | genesis/engine/scene.py | 0 | all the active solvers managed by the scene's simulator. | STRING |
| HIGH | genesis/engine/couplers/legacy_coupler.py | 0 | all the active solvers managed by the scene's simulator. | STRING |
| HIGH | genesis/engine/couplers/sap_coupler.py | 0 | all the active solvers managed by the scene's simulator. | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | tests/grad/utils.py | 20 | CODE | |
| LOW | genesis/__init__.py | 56 | CODE | |
| LOW | genesis/ext/_trimesh_patch.py | 290 | CODE | |
| LOW | genesis/ext/_trimesh_patch.py | 756 | CODE | |
| LOW | genesis/ext/pyrender/material.py | 78 | CODE | |
| LOW | genesis/ext/pyrender/material.py | 360 | CODE | |
| LOW | genesis/ext/pyrender/material.py | 569 | CODE | |
| LOW | genesis/ext/pyrender/viewer.py | 175 | CODE | |
| LOW | genesis/ext/pyrender/viewer.py | 933 | CODE | |
| LOW | genesis/ext/pyrender/mesh.py | 126 | CODE | |
| LOW | genesis/ext/pyrender/primitive.py | 68 | CODE | |
| LOW | genesis/ext/pyrender/texture.py | 44 | CODE | |
| LOW | genesis/ext/pyrender/node.py | 48 | CODE | |
| LOW | genesis/ext/pyrender/offscreen.py | 101 | CODE | |
| LOW | genesis/utils/hybrid.py | 226 | CODE | |
| LOW | genesis/utils/path_planning.py | 249 | CODE | |
| LOW | genesis/utils/path_planning.py | 474 | CODE | |
| LOW | genesis/utils/path_planning.py | 838 | CODE | |
| LOW | genesis/vis/camera.py | 73 | CODE | |
| LOW | genesis/engine/scene.py | 94 | CODE | |
| LOW | genesis/engine/scene.py | 700 | CODE | |
| LOW | genesis/engine/mesh.py | 64 | CODE | |
| LOW | genesis/engine/mesh.py | 360 | CODE | |
| LOW | genesis/engine/force_fields.py | 283 | CODE | |
| LOW | genesis/engine/entities/rigid_entity/rigid_geom.py | 299 | CODE | |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 2464 | CODE | |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 3001 | CODE | |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 3109 | CODE | |
| LOW | genesis/engine/entities/rigid_entity/rigid_entity.py | 3421 | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | tests/rigid/test_narrowphase.py | 404 | def update_pos_quat_analytical(self, entity_idx: int, pos, euler) -> None: | CODE |
| LOW⚡ | tests/rigid/test_narrowphase.py | 408 | def update_pos_quat_gjk(self, entity_idx: int, pos, euler) -> None: | CODE |
| LOW | genesis/options/surfaces.py | 738 | def update_texture(self, *, emissive_texture: Texture | None = None, force: bool = False, **kwargs) -> None: | CODE |
| LOW | genesis/options/__init__.py | 20 | __all__ = [ | CODE |
| LOW | genesis/ext/urdfpy/__init__.py | 29 | __all__ = [ | CODE |
| LOW | genesis/ext/pyrender/viewer.py | 1554 | __all__ = ["Viewer"] | CODE |
| LOW | genesis/ext/pyrender/light.py | 376 | __all__ = ["Light", "DirectionalLight", "SpotLight", "PointLight"] | CODE |
| LOW | genesis/ext/pyrender/constants.py | 170 | __all__ = ["RenderFlags", "TextAlign", "GLTF"] | CODE |
| LOW | genesis/ext/pyrender/__init__.py | 16 | __all__ = [ | CODE |
| LOW | genesis/ext/pyrender/camera.py | 391 | __all__ = ["Camera", "PerspectiveCamera", "OrthographicCamera", "IntrinsicsCamera"] | CODE |
| LOW | genesis/ext/pyrender/offscreen.py | 288 | __all__ = ["OffscreenRenderer"] | CODE |
| LOW | genesis/ext/pyrender/platforms/osmesa.py | 4 | __all__ = ["OSMesaPlatform"] | CODE |
| LOW | genesis/ext/pyrender/platforms/egl.py | 317 | __all__ = ["EGLPlatform"] | CODE |
| LOW | genesis/ext/pyrender/platforms/pyglet_platform.py | 8 | __all__ = ["PygletPlatform"] | CODE |
| LOW | genesis/ext/pyrender/overlay/__init__.py | 6 | __all__ = ["ImGuiOverlayPlugin"] | CODE |
| LOW | genesis/vis/viewer_plugins/base.py | 54 | def update_on_sim_step(self) -> None: | CODE |
| LOW | genesis/vis/viewer_plugins/raycast.py | 216 | def update_on_sim_step(self) -> None: | CODE |
| LOW | genesis/vis/viewer_plugins/plugins/mouse_interaction.py | 161 | def update_on_sim_step(self) -> None: | CODE |
| LOW | genesis/vis/viewer_plugins/plugins/mouse_interaction.py | 303 | def _update_drag_plane(self) -> None: | CODE |
| LOW | genesis/vis/viewer_plugins/plugins/__init__.py | 4 | __all__ = [ | CODE |
| LOW | genesis/assets/tower/generate_tower.py | 19 | logger = logging.getLogger(__name__) | CODE |
| LOW | genesis/engine/couplers/ipc_coupler/__init__.py | 3 | __all__ = ["IPCCoupler"] | CODE |
| LOW | genesis/engine/sensors/tactile_shared.py | 818 | def _setup_crosstalk_grid(self, options) -> None: | CODE |
| LOW | genesis/engine/solvers/kinematic_solver.py | 709 | def set_state(self, f, state, envs_idx=None, *, partial: bool = False) -> None: | CODE |
| LOW | genesis/engine/solvers/rigid/rigid_solver.py | 1778 | def set_state(self, f, state, envs_idx=None, *, partial: bool = False) -> None: | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | genesis/utils/geom.py | 1119 | CODE | |
| MEDIUM | genesis/utils/tools.py | 112 | CODE | |
| MEDIUM | genesis/utils/tools.py | 115 | CODE | |
| MEDIUM | genesis/utils/tools.py | 118 | CODE | |
| MEDIUM | genesis/utils/tools.py | 119 | CODE | |
| MEDIUM | genesis/utils/tools.py | 120 | CODE | |
| MEDIUM | genesis/utils/tools.py | 121 | CODE | |
| MEDIUM | genesis/utils/tools.py | 123 | CODE | |
| MEDIUM | genesis/utils/tools.py | 130 | CODE | |
| MEDIUM | genesis/utils/tools.py | 139 | CODE | |
| MEDIUM | genesis/utils/tools.py | 143 | CODE | |
| MEDIUM | genesis/utils/tools.py | 144 | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | genesis/ext/pyrender/mesh.py | 238 | # If the trimesh visual is undefined, return none for both | COMMENT |
| HIGH | genesis/engine/solvers/rigid/collider/mpr.py | 498 | # Coincident centers (within the solver's absolute length resolution) leave the ray direction undefined; probe | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | examples/rigid/grasp_bottle.py | 98 | ) # you can use position control | CODE |
| MEDIUM | examples/deformable/differentiable_push.py | 107 | # you can use a scene_state | COMMENT |
| MEDIUM | examples/deformable/differentiable_push.py | 114 | # you can also use an entity's state | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | genesis/engine/sensors/tactile_shared.py | 249 | # Cached scaffolding bundle for kernel calls, built once on first use (the BVH is static after scene init). | COMMENT |