Repository Analysis

Genesis-Embodied-AI/Genesis

Simulation platform for general-purpose robotics & embodied AI learning.

20.9 Moderate AI signal View on GitHub

Analysis Overview

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).

20.9
Adjusted Score
20.9
Raw Score
100%
Time Factor
2026-08-01
Last Push
29.7K
Stars
Python
Language
232.9K
Lines of Code
583
Files
2.7K
Pattern Hits
2026-08-02
Scan Date
0.25
HC Hit Rate

What These Metrics Mean

Adjusted Score
Primary synthetic code indicator. Raw score normalised per 1,000 lines of code and multiplied by the temporal discount factor. This is the definitive comparative metric — use it to rank repositories by AI authorship density.
Raw Score
The unmodified sum of all severity-weighted, context-multiplied pattern match scores before temporal discounting. Reflects the absolute signal strength independent of when the repository was last active.
Time Factor
The temporal discount multiplier (0–100%) applied to the raw score. Repositories last updated before ChatGPT's launch (Nov 2022) receive a 5% factor. Full signal is only assigned to repositories active in the post-adoption era (Jan 2024+).
Pattern Hits
Total count of individual pattern matches across all files and categories. A high hit count with a low score may indicate a very large codebase with isolated AI snippets; a low count with a high score indicates dense, concentrated AI signatures.
HC Hit Rate
High+Critical pattern hits per file, averaged across the repository. This orthogonal signal catches repositories where a few files are densely packed with high-severity AI tells — a strong indicator even when the normalised score appears moderate due to codebase size.
Lines of Code / Files
Total lines and files analysed. The scanner examines 94 file extensions. These denominators are used to normalise the score, enabling fair comparison between repositories of vastly different sizes.

Score History

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.

Severity Breakdown

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.

CRITICAL 138HIGH 8MEDIUM 401LOW 2127

Directory Score Breakdown

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.

Pattern Findings

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.

Hallucination Indicators138 hits · 1615 pts
SeverityFileLineSnippetContext
CRITICALtests/utils.py1132 # Acceleration pre- VS post-implicit damping gs_qacc_post = gs_sim.rigid_solver.dyn_state.dofs.acc.to_numpy()[:, 0]COMMENT
CRITICALtests/utils.py860 gs_inertia_i = gs_sim.rigid_solver.dyn_info.links.inertial_i.to_numpy()[gs_i, [0, 1, 2], [0, 1, 2]]CODE
CRITICALtests/utils.py863 gs_ipos_i = gs_sim.rigid_solver.dyn_info.links.inertial_pos.to_numpy()[gs_i]CODE
CRITICALtests/utils.py866 gs_iquat_i = gs_sim.rigid_solver.dyn_info.links.inertial_quat.to_numpy()[gs_i]CODE
CRITICALtests/utils.py869 gs_pos_i = gs_sim.rigid_solver.dyn_info.links.pos.to_numpy()[gs_i]CODE
CRITICALtests/utils.py872 gs_quat_i = gs_sim.rigid_solver.dyn_info.links.quat.to_numpy()[gs_i]CODE
CRITICALtests/utils.py875 gs_mass_i = gs_sim.rigid_solver.dyn_info.links.inertial_mass.to_numpy()[gs_i]CODE
CRITICALtests/utils.py880 gs_dof_damping = gs_sim.rigid_solver.dyn_info.dofs.damping.to_numpy()CODE
CRITICALtests/utils.py884 gs_dof_armature = gs_sim.rigid_solver.dyn_info.dofs.armature.to_numpy()CODE
CRITICALtests/utils.py889 gs_dof_stiffness = gs_sim.rigid_solver.dyn_info.dofs.stiffness.to_numpy()CODE
CRITICALtests/utils.py894 gs_dof_invweight0 = gs_sim.rigid_solver.dyn_info.dofs.invweight.to_numpy()CODE
CRITICALtests/utils.py898 gs_dof_dof_frictionloss = gs_sim.rigid_solver.dyn_info.dofs.frictionloss.to_numpy()CODE
CRITICALtests/utils.py944 gs_act_gain = gs_sim.rigid_solver.dyn_info.dofs.act_gain.to_numpy()CODE
CRITICALtests/utils.py945 gs_act_bias = gs_sim.rigid_solver.dyn_info.dofs.act_bias.to_numpy()CODE
CRITICALtests/utils.py969 gs_crb_inertial = gs_sim.rigid_solver.dyn_state.links.crb_inertial.to_numpy()[:, 0].reshape([-1, 9])[CODE
CRITICALtests/utils.py974 gs_crb_pos = gs_sim.rigid_solver.dyn_state.links.crb_pos.to_numpy()[:, 0]CODE
CRITICALtests/utils.py977 gs_crb_mass = gs_sim.rigid_solver.dyn_state.links.crb_mass.to_numpy()[:, 0]CODE
CRITICALtests/utils.py991 gs_qfrc_bias = gs_sim.rigid_solver.dyn_state.dofs.qf_bias.to_numpy()[:, 0]CODE
CRITICALtests/utils.py994 gs_qfrc_passive = gs_sim.rigid_solver.dyn_state.dofs.qf_passive.to_numpy()[:, 0]CODE
CRITICALtests/utils.py997 gs_qfrc_actuator = gs_sim.rigid_solver.dyn_state.dofs.qf_applied.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1001 gs_n_contacts = gs_sim.rigid_solver.collider._collider_state.n_contacts.to_numpy()[0]CODE
CRITICALtests/utils.py1009 gs_contact_pos = gs_sim.rigid_solver.collider._collider_state.contact_data.pos.to_numpy()[:gs_n_contacts, 0]CODE
CRITICALtests/utils.py1116 gs_qfrc_constraint = gs_sim.rigid_solver.dyn_state.dofs.qf_constraint.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1120 gs_qfrc_all = gs_sim.rigid_solver.dyn_state.dofs.force.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1124 gs_qfrc_smooth = gs_sim.rigid_solver.dyn_state.dofs.qf_smooth.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1128 gs_qacc_smooth = gs_sim.rigid_solver.dyn_state.dofs.acc_smooth.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1141 gs_qacc_post = gs_sim.rigid_solver.dyn_state.dofs.acc.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1145 gs_qvel = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1154 gs_com = gs_sim.rigid_solver.dyn_state.links.root_COM.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1155 gs_root_idx = np.unique(gs_sim.rigid_solver.dyn_info.links.root_idx.to_numpy()[gs_bodies_idx])CODE
CRITICALtests/utils.py1160 gs_xipos = gs_sim.rigid_solver.dyn_state.links.i_pos.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1164 gs_xpos = gs_sim.rigid_solver.dyn_state.links.pos.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1168 gs_xquat = gs_sim.rigid_solver.dyn_state.links.quat.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1173 gs_cd_vel = gs_sim.rigid_solver.dyn_state.links.cd_vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1176 gs_cd_ang = gs_sim.rigid_solver.dyn_state.links.cd_ang.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1180 gs_cdof_vel = gs_sim.rigid_solver.dyn_state.dofs.cdof_vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1183 gs_cdof_ang = gs_sim.rigid_solver.dyn_state.dofs.cdof_ang.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1188 gs_cdof_dot_ang = gs_sim.rigid_solver.dyn_state.dofs.cdofd_ang.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1192 gs_cdof_dot_vel = gs_sim.rigid_solver.dyn_state.dofs.cdofd_vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1196 gs_cinr_inertial = gs_sim.rigid_solver.dyn_state.links.cinr_inertial.to_numpy()[:, 0].reshape([-1, 9])[CODE
CRITICALtests/utils.py1201 gs_cinr_pos = gs_sim.rigid_solver.dyn_state.links.cinr_pos.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1204 gs_cinr_mass = gs_sim.rigid_solver.dyn_state.links.cinr_mass.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1232 mj_sim.data.qvel[mj_dofs_idx] = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1234 mj_sim.data.qacc_smooth[mj_dofs_idx] = gs_sim.rigid_solver.dyn_state.dofs.acc_smooth.to_numpy()[:, 0]CODE
CRITICALtests/utils.py1237 qvel_prev = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py378 gs_sim.rigid_solver.dyn_state.dofs.qf_constraint.fill(0.0)CODE
CRITICALtests/utils.py389 mj_sim.data.qvel[mj_dofs_idx] = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()[:, 0]CODE
CRITICALtests/utils.py842 for i in set(gs_sim.rigid_solver.dyn_info.links.root_idx.to_numpy()[gs_bodies_idx])CODE
CRITICALtests/utils.py849 gs_invweight_i = gs_sim.rigid_solver.dyn_info.links.invweight.to_numpy()[gs_i]CODE
CRITICALtests/utils.py1024 gs_contact_normal = gs_sim.rigid_solver.collider._collider_state.contact_data.normal.to_numpy()[CODE
CRITICALtests/utils.py1029 gs_penetration = gs_sim.rigid_solver.collider._collider_state.contact_data.penetration.to_numpy()[CODE
CRITICALtests/utils.py1103 if not (gs_sim.rigid_solver.dyn_info.dofs.frictionloss.to_numpy() > gs.EPS).any():CODE
CRITICALtests/core/test_quadrants.py116 actual_contacts = scene.rigid_solver.collider._collider_state.n_contacts.to_numpy()CODE
CRITICALtests/integration/test_integration.py192 links_pos_0 = scene.rigid_solver.dyn_state.links.pos.to_numpy()[:, 0]CODE
CRITICALtests/integration/test_integration.py193 links_quat_0 = scene.rigid_solver.dyn_state.links.quat.to_numpy()[:, 0]CODE
CRITICALtests/integration/test_integration.py202 links_pos_f = scene.rigid_solver.dyn_state.links.pos.to_numpy()[:, 0]CODE
CRITICALtests/integration/test_integration.py203 links_quat_f = scene.rigid_solver.dyn_state.links.quat.to_numpy()[:, 0]CODE
CRITICALtests/rigid/test_narrowphase.py414 self.scene_analytical._sim.rigid_solver._errno.fill(0)CODE
CRITICALtests/rigid/test_narrowphase.py421 self.scene_gjk._sim.rigid_solver._errno.fill(0)CODE
CRITICALtests/rigid/test_friction.py27 gs_qvel = gs_sim.rigid_solver.dyn_state.dofs.vel.to_numpy()CODE
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Decorative Section Separators342 hits · 1101 pts
SeverityFileLineSnippetContext
MEDIUMtests/utils.py1152 # ------------------------------------------------------------------------COMMENT
MEDIUMtests/particles/test_sph.py258# =============================================================================COMMENT
MEDIUMtests/particles/test_sph.py260# =============================================================================COMMENT
MEDIUMtests/benchmarks/test_rigid.py205# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py216# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py827# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py829# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py876# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py878# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py939# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py941# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py1064# ---------------------------------------------------------------------------COMMENT
MEDIUMtests/benchmarks/test_rigid.py1066# ---------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/watertighten.py30# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py32# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py86# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py88# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py144# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py146# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py164# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py166# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py414# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py416# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py977# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/watertighten.py979# ===============================================================================================================COMMENT
MEDIUMgenesis/utils/geom.py13# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py15# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py678# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py680# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py1806# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py1808# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py2388# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/geom.py2390# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/path_planning.py77 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/path_planning.py79 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/path_planning.py1005# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/utils/path_planning.py1007# ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/vis/viewer.py446 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/vis/viewer.py448 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/vis/visualizer.py266 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/vis/visualizer.py268 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/scene.py1593 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/scene.py1595 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/scene.py1618 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/scene.py1620 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py244 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py246 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py268 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py270 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py349 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py351 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py406 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py408 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py438 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/simulator.py440 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/couplers/legacy_coupler.py27 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/couplers/legacy_coupler.py29 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/couplers/sap_coupler.py154 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/couplers/sap_coupler.py156 # ------------------------------------------------------------------------------------COMMENT
MEDIUMgenesis/engine/couplers/sap_coupler.py216 # ------------------------------------------------------------------------------------COMMENT
282 more matches not shown…
Hyper-Verbose Identifiers961 hits · 870 pts
SeverityFileLineSnippetContext
LOWtests/conftest.py105def is_mem_monitoring_supported():CODE
LOWtests/conftest.py116def pytest_make_parametrize_id(config, val, argname):CODE
LOWtests/conftest.py335def pytest_xdist_auto_num_workers(config):CODE
LOWtests/conftest.py402def pytest_collection_modifyitems(config, items):CODE
LOWtests/conftest.py479def pytest_runtest_makereport(item, call):CODE
LOWtests/gpu_info.py33 def get_device_index_from_uuid(self, device_uuid: str) -> int:CODE
LOWtests/gpu_info.py74 def get_device_index_from_uuid(self, device_uuid: str) -> int:CODE
LOWtests/gpu_info.py142 def get_device_index_from_uuid(self, device_uuid: str) -> int:CODE
LOWtests/utils.py953def check_mujoco_data_consistency(CODE
LOWtests/utils.py1209def simulate_and_check_mujoco_consistency(CODE
LOWtests/utils.py393def _gs_search_by_joints_name(CODE
LOWtests/utils.py634def get_mujoco_midpoint_dofs_mask(mj_sim):CODE
LOWtests/utils.py775def check_mujoco_model_consistency(CODE
LOWtests/utils.py1261def get_genuine_interpenetration(links, cross_tol=1e-3, n_dir=40, n_bisect=9, is_exact=True):CODE
LOWtests/grad/conftest.py38def grad_revolute_frictionloss():CODE
LOWtests/grad/conftest.py124def grad_hinge_pair_joint_eq_linear():CODE
LOWtests/grad/conftest.py137def grad_hinge_pair_joint_eq_quadratic():CODE
LOWtests/grad/test_rigid_optim.py16def test_reference_trajectory_recovery_converges(control_target, grad_cartpole, show_viewer):CODE
LOWtests/grad/test_rigid_optim.py89def test_goal_pose_optimization_converges(show_viewer):CODE
LOWtests/grad/test_rigid_collision.py16def test_contact_per_step_force_grad_matches_fd(shape, grad_capsule, precision, show_viewer):CODE
LOWtests/grad/test_rigid_collision.py151def test_contact_no_tunneling_forward(show_viewer):CODE
LOWtests/grad/test_rigid_collision.py196def test_diff_unsupported_configuration_raises():CODE
LOWtests/grad/test_rigid_collision.py268def test_contact_detection_jacobian_matches_fd():CODE
LOWtests/grad/test_rigid_collision.py348def test_constraint_solver_backward_matches_fd(monkeypatch):CODE
LOWtests/grad/test_rigid_collision.py383 def constraint_solver_resolve():CODE
LOWtests/grad/test_rigid_dynamics.py136def test_fk_multistep_force_grad_matches_fd(model_name, request, precision, show_viewer):CODE
LOWtests/grad/test_rigid_dynamics.py198def test_per_step_pd_target_grad_matches_fd(control_mode, grad_revolute, precision, show_viewer):CODE
LOWtests/grad/test_rigid_constraints.py15def test_joint_limit_grad_matches_fd(grad_slider_limit, precision, show_viewer):CODE
LOWtests/grad/test_rigid_constraints.py102def test_per_step_force_into_limit_grad_matches_fd(model_name, request, precision, show_viewer):CODE
LOWtests/grad/test_rigid_constraints.py153def test_frictionloss_grad_matches_fd(grad_revolute_frictionloss, precision, show_viewer):CODE
LOWtests/grad/test_rigid_constraints.py191def test_equality_grad_matches_fd(model_name, n_rows, request, precision, show_viewer):CODE
LOWtests/grad/test_rigid_constraints.py226def test_all_constraint_groups_grad_matches_fd(grad_all_eq_fric, precision, show_viewer):CODE
LOWtests/grad/test_grad_tape.py14def test_horizon_truncation_matches_independent_scenes(model_name, request, show_viewer):CODE
LOWtests/grad/test_grad_tape.py82def test_sim_vs_solver_state_grad_parity(show_viewer):CODE
LOWtests/sensors/test_camera.py34def test_rasterizer_non_batched(n_envs, show_viewer):CODE
LOWtests/sensors/test_camera.py279def test_rasterizer_attached_batched(show_viewer, png_snapshot, tol):CODE
LOWtests/sensors/test_camera.py441def test_batch_renderer_destroy():CODE
LOWtests/sensors/test_camera.py700def test_destroy_unbuilt_scene_with_camera():CODE
LOWtests/sensors/test_camera.py709def test_destroy_idempotent_with_camera():CODE
LOWtests/sensors/test_temperature.py11def test_grid_sensor_contact_and_reset(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_temperature.py116def test_grid_simulate_all_link_temps(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_joint_torque.py38def joint_torque_contact_pendulum():CODE
LOWtests/sensors/test_joint_torque.py137def test_joint_torque_with_contact(joint_torque_contact_pendulum, show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_imu.py176def test_lone_sensor_resolution_and_offset_setter(show_viewer, n_envs):CODE
LOWtests/sensors/test_tactile.py15def test_surface_distance_sensor_box_sphere(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py165def test_kinematic_contact_probe_box_sphere_support(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py374def test_raycast_probe_on_fully_fixed_solver(show_viewer):CODE
LOWtests/sensors/test_tactile.py412def test_contact_probe_hysteresis(show_viewer):CODE
LOWtests/sensors/test_tactile.py506def test_contact_depth_probe_hysteresis_gain_and_dead_resample(show_viewer, tol):CODE
LOWtests/sensors/test_tactile.py632def test_filler_probes_radius_zero(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py757def test_contact_depth_query_sdf_vs_raycast_parity(show_viewer):CODE
LOWtests/sensors/test_tactile.py862def test_filtered_contact_survives_prefilter_cap(show_viewer, monkeypatch, n_envs):CODE
LOWtests/sensors/test_tactile.py917def test_kinematic_taxel_crosstalk(show_viewer):CODE
LOWtests/sensors/test_tactile.py1082def test_gaussian_crosstalk_kernel_helper():CODE
LOWtests/sensors/test_tactile.py1100def test_proximity_taxel_crosstalk(show_viewer):CODE
LOWtests/sensors/test_tactile.py1175def test_proximity_taxel_twist_torque(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py1263def test_proximity_sensor_box_on_box(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py1341def test_elastomer_sensor_sphere_ground_dilate_shear(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py1464def test_elastomer_sensor_grid_box_sphere(show_viewer, tol, n_envs):CODE
LOWtests/sensors/test_tactile.py1686def test_heterogeneous_object(show_viewer, tol):CODE
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Unused Imports513 hits · 451 pts
SeverityFileLineSnippetContext
LOWtests/upload_benchmarks_table_to_wandb.py20CODE
LOWtests/upload_benchmarks_table_to_wandb.py21CODE
LOWtests/upload_benchmarks_table_to_wandb.py22CODE
LOWtests/grad/utils.py4CODE
LOWtests/sensors/test_camera.py18CODE
LOWtests/sensors/test_camera.py24CODE
LOWtests/parsers/test_mesh.py19CODE
LOWtests/parsers/test_mesh.py19CODE
LOWtests/parsers/test_mesh.py19CODE
LOWtests/parsers/test_usd.py20CODE
LOWtests/rigid/test_narrowphase.py45CODE
LOWtests/ipc/test_rigid.py9CODE
LOWtests/ipc/test_rigid.py29CODE
LOWtests/ipc/test_deformable.py9CODE
LOWtests/ipc/test_deformable.py26CODE
LOWtests/ipc/utils.py5CODE
LOWtests/ipc/test_api.py6CODE
LOWtests/ipc/test_api.py19CODE
LOWtests/rendering/conftest.py70CODE
LOWtests/rendering/test_imgui_overlay.py16CODE
LOWtests/rendering/test_interactive_viewer.py7CODE
LOWexamples/sensors/tactile_sandbox.py24CODE
LOWexamples/sensors/tactile_sandbox.py25CODE
LOWexamples/sensors/camera_as_sensor.py21CODE
LOWexamples/sensors/camera_as_sensor.py30CODE
LOWexamples/sensors/tactile_franka.py21CODE
LOWexamples/sensors/tactile_franka.py22CODE
LOWexamples/manipulation/grasp_env.py18CODE
LOWexamples/viewer_plugin/mesh_point_selector.py16CODE
LOWexamples/viewer_plugin/mesh_point_selector.py18CODE
LOWexamples/drone/fly_route.py10CODE
LOWexamples/drone/quadcopter_controller.py9CODE
LOW.github/workflows/scripts/alarm.py32CODE
LOW.github/workflows/scripts/alarm.py40CODE
LOWgenesis/__init__.py461CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py486CODE
LOWgenesis/__init__.py502CODE
LOWgenesis/__init__.py503CODE
LOWgenesis/__init__.py504CODE
LOWgenesis/__init__.py505CODE
LOWgenesis/__init__.py505CODE
LOWgenesis/__init__.py505CODE
LOWgenesis/__init__.py507CODE
LOWgenesis/__init__.py508CODE
LOWgenesis/__init__.py509CODE
LOWgenesis/__init__.py510CODE
LOWgenesis/__init__.py511CODE
LOWgenesis/__init__.py513CODE
453 more matches not shown…
Deep Nesting425 hits · 355 pts
SeverityFileLineSnippetContext
LOWtests/monitor_test_mem.py63CODE
LOWtests/conftest.py335CODE
LOWtests/conftest.py442CODE
LOWtests/gpu_info.py85CODE
LOWtests/utils.py193CODE
LOWtests/utils.py393CODE
LOWtests/utils.py442CODE
LOWtests/utils.py479CODE
LOWtests/utils.py953CODE
LOWtests/utils.py1261CODE
LOWtests/upload_benchmarks_table_to_wandb.py27CODE
LOWtests/grad/test_rigid_collision.py16CODE
LOWtests/grad/test_rigid_collision.py17CODE
LOWtests/grad/utils.py72CODE
LOWtests/core/test_utils.py34CODE
LOWtests/core/test_utils.py82CODE
LOWtests/core/test_utils.py204CODE
LOWtests/core/test_utils.py460CODE
LOWtests/core/test_bvh.py123CODE
LOWtests/rigid/conftest.py95CODE
LOWtests/rigid/test_narrowphase.py115CODE
LOWtests/rigid/test_narrowphase.py205CODE
LOWtests/rigid/test_narrowphase.py228CODE
LOWtests/rigid/test_narrowphase.py437CODE
LOWtests/rigid/test_dynamics.py176CODE
LOWtests/rigid/test_collision.py563CODE
LOWtests/rigid/test_collision.py627CODE
LOWtests/rigid/test_collision.py1052CODE
LOWtests/rigid/test_api.py28CODE
LOWtests/rigid/test_asset_loading.py502CODE
LOWtests/rigid/test_asset_loading.py1021CODE
LOWtests/rigid/test_kinematics.py590CODE
LOWtests/benchmarks/test_rigid.py37CODE
LOWtests/benchmarks/test_rigid.py107CODE
LOWtests/ipc/test_rigid.py323CODE
LOWtests/rendering/test_dynamic_meshes.py344CODE
LOWtests/rendering/test_offscreen.py187CODE
LOWtests/rendering/test_offscreen.py422CODE
LOWexamples/sensors/surface_distance_shadowhand.py32CODE
LOWexamples/sensors/tactile_sandbox.py236CODE
LOWexamples/sensors/tactile_sandbox.py260CODE
LOWexamples/sensors/tactile_franka.py111CODE
LOWexamples/sensors/tactile_franka.py177CODE
LOWexamples/sensors/tactile_franka.py202CODE
LOWexamples/sensors/depth_camera_custom_vverts.py15CODE
LOWexamples/manipulation/grasp_env.py362CODE
LOWexamples/rigid/hibernation.py28CODE
LOWexamples/rigid/friction_breakaway.py61CODE
LOWexamples/rigid/set_phys_attr.py8CODE
LOWexamples/rigid/control_franka.py8CODE
LOWexamples/rigid/merge_entities.py14CODE
LOWexamples/tutorials/draw_debug.py7CODE
LOWexamples/ipc/ipc_momentum.py11CODE
LOWexamples/ipc/ipc_momentum.py86CODE
LOWexamples/speed_benchmark/timers.py18CODE
LOW.github/workflows/scripts/alarm.py353CODE
LOWgenesis/repr_base.py16CODE
LOWgenesis/_main.py12CODE
LOWgenesis/_main.py98CODE
LOWgenesis/_main.py155CODE
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Self-Referential Comments25 hits · 73 pts
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MEDIUMtests/monitor_test_mem.py9# This module is launched as a standalone script ('python tests/monitor_test_mem.py'), so its own directory isCOMMENT
MEDIUMtests/sensors/test_api.py30 # Create a fake plugin package in a temp directoryCOMMENT
MEDIUMtests/parsers/test_usd.py208 # Create a simple triangle mesh with intentionally mismatched UVsCOMMENT
MEDIUMtests/core/test_utils.py392 # Create a matrix that will have det(U) = -1 by using a reflectionCOMMENT
MEDIUMtests/rigid/test_kinematics.py419 # Define a local offset point in the end-effector frame (e.g., 10cm along Z-axis)COMMENT
MEDIUMtests/rendering/test_interactive_viewer.py217 # Create a sceneCOMMENT
MEDIUMexamples/rigid/single_franka_batch_render.py102 # Create an image exporterCOMMENT
MEDIUMgenesis/__init__.py163 # Define the right dtypes in accordance with selected backend and precisionCOMMENT
MEDIUMgenesis/ext/urdfpy/urdf.py2771 # Create the link graph and base link/end link setsCOMMENT
MEDIUMgenesis/ext/urdfpy/urdf.py3513 # Create an array of times that loops from 0 to 1 and back to 0COMMENT
MEDIUMgenesis/ext/urdfpy/urdf.py3527 # Create the new interpolated trajectoryCOMMENT
MEDIUMgenesis/ext/urdfpy/urdf.py3532 # Create the sceneCOMMENT
MEDIUMgenesis/ext/pyrender/mesh.py209 # Create the primitiveCOMMENT
MEDIUMgenesis/ext/pyrender/platforms/egl.py244 # Create an EGL contextCOMMENT
MEDIUMgenesis/utils/hybrid.py246 # Create the 3D figureCOMMENT
MEDIUMgenesis/utils/mesh.py971 # Define the vertices of the frustumCOMMENT
MEDIUMgenesis/utils/mesh.py986 # Define the faces of the frustumCOMMENT
MEDIUMgenesis/utils/mesh.py1001 # Create the frustum meshCOMMENT
MEDIUMgenesis/utils/usd/__init__.py29>>> # Create a USD morph and parse the stageSTRING
MEDIUMgenesis/engine/couplers/ipc_coupler/coupler.py1008 # This method handles both volumetric FEM (3D) and cloth (2D) post-processingCOMMENT
MEDIUMgenesis/engine/sensors/sensor_manager.py66 # Create the shared context before the sensor, so the instance exists to hand to it. ``NoneType`` marksCOMMENT
MEDIUMgenesis/engine/sensors/camera.py69 # Create a minimal rasterizer context for camera frustum visualization (required by BatchRenderer even thoughCOMMENT
MEDIUMgenesis/engine/solvers/rigid/collider/diff_gjk.py578 # Define the face (possibly) on the boundary of the Minkowski difference in the default configurationCOMMENT
MEDIUMgenesis/engine/entities/rigid_entity/rigid_entity.py163 # Initialize target variables and checkpointCOMMENT
MEDIUMgenesis/engine/entities/rigid_entity/rigid_entity.py873 # Define a flag that determines whether the link at hand is associated with a robot.COMMENT
Excessive Try-Catch Wrapping46 hits · 55 pts
SeverityFileLineSnippetContext
LOWexamples/viewer_plugin/mesh_point_selector.py229 except Exception as e:CODE
LOW.github/workflows/scripts/alarm.py315 except Exception as e:CODE
LOWgenesis/repr_base.py71 except Exception:CODE
LOWgenesis/options/morphs.py1456 except Exception:CODE
LOWgenesis/grad/tensor.py57 except Exception: # obj is a single tensorCODE
LOWgenesis/ext/urdfpy/urdf.py90 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py709 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py713 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py717 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py721 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py29 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py676 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py1038 except Exception as e:CODE
LOWgenesis/ext/pyrender/viewer.py1236 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py1240 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py1313 except Exception:CODE
LOWgenesis/ext/pyrender/viewer.py1360 except Exception as e:CODE
LOWgenesis/ext/pyrender/offscreen.py272 except Exception:CODE
LOWgenesis/ext/pyrender/offscreen.py284 except Exception:CODE
MEDIUMgenesis/ext/pyrender/offscreen.py281def __del__(self):CODE
LOWgenesis/ext/pyrender/platforms/pyglet_platform.py25 except Exception:CODE
LOWgenesis/ext/pyrender/platforms/pyglet_platform.py76 except Exception:CODE
LOWgenesis/ext/pyrender/platforms/pyglet_platform.py100 except Exception:CODE
MEDIUMgenesis/ext/pyrender/platforms/pyglet_platform.py73def make_uncurrent(self):CODE
LOWgenesis/ext/pyrender/platforms/base.py77 except Exception:CODE
MEDIUMgenesis/ext/pyrender/platforms/base.py74def __del__(self):CODE
LOWgenesis/ext/pyrender/overlay/plugin.py303 except Exception:CODE
LOWgenesis/ext/pyrender/overlay/plugin.py309 except Exception:CODE
LOWgenesis/ext/pyrender/overlay/plugin.py331 except Exception as e:CODE
MEDIUMgenesis/ext/pyrender/overlay/plugin.py298def _get_clipboard(_ctx):CODE
MEDIUMgenesis/ext/pyrender/overlay/plugin.py306def _set_clipboard(_ctx, text):CODE
LOWgenesis/utils/misc.py565 except Exception:CODE
LOWgenesis/utils/mesh.py319 except Exception as e:CODE
LOWgenesis/utils/particle.py310 except Exception as e:CODE
MEDIUMgenesis/utils/particle.py289def _splashsurf_worker(positions, radius, args_dict, result_queue):CODE
LOWgenesis/utils/usd/usd_context.py130 except Exception as e:CODE
LOWgenesis/recorders/plotters.py275 except Exception as e:CODE
LOWgenesis/recorders/plotters.py438 except Exception as e:CODE
LOWgenesis/vis/viewer.py195 except Exception:CODE
LOWgenesis/vis/visualizer.py48 except Exception as e:CODE
LOWgenesis/vis/visualizer.py61 except Exception as e:CODE
LOWgenesis/engine/couplers/ipc_coupler/coupler.py771 except Exception as e:CODE
LOWgenesis/engine/sensors/base_sensor.py63 except Exception:CODE
MEDIUMgenesis/engine/sensors/base_sensor.py60def __del__(self):CODE
LOWgenesis/engine/sensors/sensor_manager.py123 except Exception:CODE
LOWgenesis/engine/entities/drone_entity.py32 except Exception:CODE
Redundant / Tautological Comments36 hits · 51 pts
SeverityFileLineSnippetContext
LOWdocker/build_luisa.sh3# Check if Python version is providedCOMMENT
LOWtests/utils.py161 # Check if the current commit is contained by main branchCOMMENT
LOWtests/rigid/test_terrain.py102 # Check if cache is being reloaded as expectedCOMMENT
LOWtests/rigid/test_kinematics.py689 # Check if the cube is colliding with the robotCOMMENT
LOWexamples/sensors/depth_camera_custom_vverts.py129 # Set Go2 to a standing poseCOMMENT
LOWgenesis/utils/geom.py1476 # Check if batchedCOMMENT
LOWgenesis/utils/geom.py1690 # Check if batchedCOMMENT
LOWgenesis/utils/raycast_qd.py92 # Check if ray hits the node's bounding boxCOMMENT
LOWgenesis/utils/gltf.py164 # Check if material has a base color textureCOMMENT
LOWgenesis/utils/usd/__init__.py42# Check if USD support is available before importing modules that depend on itCOMMENT
LOWgenesis/vis/rasterizer_context.py243 # Check if the node has a valid nameCOMMENT
LOWgenesis/vis/rasterizer_context.py247 # Check if the name is already in useCOMMENT
LOWgenesis/engine/bvh.py493 # Check if the AABB intersects with the node's bounding boxCOMMENT
LOWgenesis/engine/bvh.py498 # Check if the filter condition is metCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/utils.py61 # Check if there is any non-fixed jointCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py25# Check if libuipc is availableCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py111 # Check if uipc is availableCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py921 # Set delta_theta_tilde to IPC geometryCOMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk_utils.py109 # Check if the point predicted by the affine coordinates is equal to the point itselfCOMMENT
LOWgenesis/engine/solvers/rigid/collider/diff_gjk.py290 # Check if there is any duplicate contact point.COMMENT
LOWgenesis/engine/solvers/rigid/collider/diff_gjk.py461 # Check if the memory space is enough for attaching new facesCOMMENT
LOWgenesis/engine/solvers/rigid/collider/epa.py151 # Check if the memory space is enough for attaching new facesCOMMENT
LOWgenesis/engine/solvers/rigid/collider/epa.py622 # Check if v4 or v5 located inside the triangle.COMMENT
LOWgenesis/engine/solvers/rigid/collider/epa.py1027 # Check if the memory space is enough for attaching new facesCOMMENT
LOWgenesis/engine/solvers/rigid/collider/multi_contact.py161 # Check if any of the edge normals matchCOMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py557 # Check if the objects are separated using support vectorCOMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py773 # Check if the origin is strictly outside of the Minkowski difference (which means there is no collision)COMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1203 # Check if the new vertex would make a valid simplex.COMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1276 # Check if the new vertex would make a valid simplex.COMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1318 # Check if the origin is strictly outside of the Minkowski difference (which means there is no collision)COMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1384 # Check if the new vertex is not very close to the existing verticesCOMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1502 # Check if the new vertex is validCOMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1538 # Check if the new vertex is validCOMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py1725 # Check if the updated simplex would be a degenerate simplex.COMMENT
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py862 # Check if there is something weird with the optionsCOMMENT
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py1484 # Check if base link was fixed but no longer isCOMMENT
Verbosity Indicators25 hits · 51 pts
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LOWtests/sensors/test_tactile.py579 # Step 1: no contact. All zero.COMMENT
LOWtests/sensors/test_tactile.py585 # Step 2: jump to BOX_Z_ON. GT should equal plain measured (both = D). Hyst measured = D*(1+strength).COMMENT
LOWgenesis/engine/couplers/sap_coupler.py1087 # Step 2: z = D^{-1} wCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1093 # Step 3: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1127 # Step 2: z = D^{-1} wCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1132 # Step 3: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1074 # Step 1: Solve w st. L^T @ w = yCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1115 # Step 1: Solve w st. L^T @ w = yCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py804 # Step 1: Store Genesis rigid states (common)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py807 # Step 2: Pre-advance processing (per entity type)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py810 # Step 3: IPC advance + retrieve (common)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py814 # Step 4: Retrieve statesCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py818 # Step 5: Post-advance processing (per entity type)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py823 # Step 6: Update GUI if enabledCOMMENT
LOWgenesis/engine/solvers/rigid/abd/manual_bw.py468 # Step 1: solve L^T . u = seed (input from [0], output to [1])COMMENT
LOWgenesis/engine/solvers/rigid/abd/manual_bw.py478 # Step 2: v = D^{-1} . u (output to [0], overwriting input)COMMENT
LOWgenesis/engine/solvers/rigid/abd/manual_bw.py484 # Step 3: solve L . delta = v (input from [0], output to [1])COMMENT
LOWgenesis/engine/solvers/rigid/abd/forward_dynamics.py768 # Step 2: z = D^{-1} wCOMMENT
LOWgenesis/engine/solvers/rigid/abd/forward_dynamics.py772 # Step 3: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/solvers/rigid/abd/forward_dynamics.py756 # Step 1: Solve w st. L^T @ w = y. Reading out[j_d] (j_d > i_d) from the buffer being written is safe: thoseCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/solver.py4168 # Step 1: Solve w st. L^T @ w = yCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/solver.py4191 # Step 2: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/noslip.py17 # Step 1: Solve w s.t. L^T @ w = y (backward substitution)COMMENT
LOWgenesis/engine/solvers/rigid/constraint/noslip.py25 # Step 2: z = D^{-1} @ wCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/noslip.py29 # Step 3: Solve x s.t. L @ x = z (forward substitution)COMMENT
Structural Annotation Overuse25 hits · 50 pts
SeverityFileLineSnippetContext
LOWtests/sensors/test_tactile.py579 # Step 1: no contact. All zero.COMMENT
LOWtests/sensors/test_tactile.py585 # Step 2: jump to BOX_Z_ON. GT should equal plain measured (both = D). Hyst measured = D*(1+strength).COMMENT
LOWgenesis/engine/couplers/sap_coupler.py1087 # Step 2: z = D^{-1} wCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1093 # Step 3: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1127 # Step 2: z = D^{-1} wCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1132 # Step 3: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1074 # Step 1: Solve w st. L^T @ w = yCOMMENT
LOWgenesis/engine/couplers/sap_coupler.py1115 # Step 1: Solve w st. L^T @ w = yCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py804 # Step 1: Store Genesis rigid states (common)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py807 # Step 2: Pre-advance processing (per entity type)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py810 # Step 3: IPC advance + retrieve (common)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py814 # Step 4: Retrieve statesCOMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py818 # Step 5: Post-advance processing (per entity type)COMMENT
LOWgenesis/engine/couplers/ipc_coupler/coupler.py823 # Step 6: Update GUI if enabledCOMMENT
LOWgenesis/engine/solvers/rigid/abd/manual_bw.py468 # Step 1: solve L^T . u = seed (input from [0], output to [1])COMMENT
LOWgenesis/engine/solvers/rigid/abd/manual_bw.py478 # Step 2: v = D^{-1} . u (output to [0], overwriting input)COMMENT
LOWgenesis/engine/solvers/rigid/abd/manual_bw.py484 # Step 3: solve L . delta = v (input from [0], output to [1])COMMENT
LOWgenesis/engine/solvers/rigid/abd/forward_dynamics.py768 # Step 2: z = D^{-1} wCOMMENT
LOWgenesis/engine/solvers/rigid/abd/forward_dynamics.py772 # Step 3: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/solvers/rigid/abd/forward_dynamics.py756 # Step 1: Solve w st. L^T @ w = y. Reading out[j_d] (j_d > i_d) from the buffer being written is safe: thoseCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/solver.py4168 # Step 1: Solve w st. L^T @ w = yCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/solver.py4191 # Step 2: Solve x st. L @ x = zCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/noslip.py17 # Step 1: Solve w s.t. L^T @ w = y (backward substitution)COMMENT
LOWgenesis/engine/solvers/rigid/constraint/noslip.py25 # Step 2: z = D^{-1} @ wCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/noslip.py29 # Step 3: Solve x s.t. L @ x = z (forward substitution)COMMENT
Over-Commented Block47 hits · 38 pts
SeverityFileLineSnippetContext
LOWpyproject.toml21 # * No pre-compiled wheels are distributed for LibIGL v2.6.2 on Windows OSCOMMENT
LOWtests/utils.py1521 if is_inside_a0.all() or is_inside_b0.all():COMMENT
LOWtests/utils.py1561 else:COMMENT
LOWtests/rigid/test_control.py141 # robot.control_dofs_position_velocity(MOTORS_POS_TARGET, MOTORS_VEL_TARGET, envs_idx=0)COMMENT
LOWtests/rigid/test_collision.py841 scene.step()COMMENT
LOWtests/benchmarks/test_rigid.py201COMMENT
LOWtests/rendering/test_imgui_overlay.py21COMMENT
LOWgenesis/ext/_trimesh_patch.py141 # we need to only take the face line before a newlineCOMMENT
LOWgenesis/ext/_trimesh_patch.py421 # if we have two values per vertex the secondCOMMENT
LOWgenesis/ext/pyrender/renderer.py801 return programCOMMENT
LOWgenesis/utils/array_class.py321 constraint_slices: IslandSlicesCOMMENT
LOWgenesis/utils/array_class.py481 # In practice, this variable is re-purposed to store the Cholesky factor L st H = L @ L.T to spare memory resources.COMMENT
LOWgenesis/utils/array_class.py541 # DRAM-bound once the combined per-env working sets exceed the CPU caches and batched stepping scales super-linearlyCOMMENT
LOWgenesis/utils/array_class.py961 has_terrain: boolCOMMENT
LOWgenesis/utils/array_class.py1381 # projected point. To confirm the projection is valid, we compute the projected point using the barycentricCOMMENT
LOWgenesis/utils/array_class.py2441 # only). When True, each entity's single-mass-block submatrix factors in registers via the same TileNxN CholeskyCOMMENT
LOWgenesis/utils/array_class.py2461 # tensor layouts they expect, eg (_B, len_constraints_) for Jaref / efc_D / ... which unlocks coalesced cross-laneCOMMENT
LOWgenesis/utils/mesh.py481):COMMENT
LOWgenesis/engine/couplers/legacy_coupler.py841 if signed_dist < self.pbd_solver.particle_size / 2: # skip non-penetration particlesCOMMENT
LOWgenesis/engine/sensors/raycaster.py61 # explicit set_pos/set_quat (collision) or set_vverts (visual) - all GEOMETRY mutations the subscription catches.COMMENT
LOWgenesis/engine/sensors/point_cloud_tactile.py1921 # Per-(env, pc-row) BVH-candidate flag, zeroed each step and written True by the surface-stateCOMMENT
LOWgenesis/engine/solvers/rigid/rigid_solver.py461 # memory usage, and increasing L1/L2 cache contention. Runtime filtering keeps the single list, but it willCOMMENT
LOWgenesis/engine/solvers/rigid/rigid_solver.py541 enable_cone_free_hessian_reuse = (COMMENT
LOWgenesis/engine/solvers/rigid/rigid_solver.py641 # and a dynamic timer-based selection would be more accurate still.COMMENT
LOWgenesis/engine/solvers/rigid/rigid_solver.py661 # Size it to the largest tile-size multiple that fits shared (precision-aware), but no largerCOMMENT
LOWgenesis/engine/solvers/rigid/rigid_solver.py681 # The cooperative in-place LDL^T has no cap; the shared-memory tile is faster but capped. Same env logicCOMMENT
LOWgenesis/engine/solvers/rigid/rigid_solver.py721 # GPU (one block ~= one tile = cholesky_tile_size lanes). The blocks grid-stride over the (env,COMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py361 grad_center = sdf.sdf_func_grad_world_local(COMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py401 # A is hollow but its center sits OUTSIDE B: two concave shells resting on each other (nestedCOMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py421 if sd_b_center < 0.0:COMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py1041 # Sample B's SDF gradient at A's geometric center when A is a convex geom (primitive or convexified mesh). ForCOMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py1081 # is the other side, used in lieu of the symmetric two-pass dispatch of func_narrow_phase_nonconvex_vs_nonterrain.COMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py1101 delta = geoms_init_AABB[i_ga, k] - center_localCOMMENT
LOWgenesis/engine/solvers/rigid/collider/narrowphase.py1581 resulting Minkowski triangle gives the exact contact normal, with the penetration as the portal's distance to theCOMMENT
LOWgenesis/engine/solvers/rigid/collider/mpr.py381 quat_b,COMMENT
LOWgenesis/engine/solvers/rigid/collider/mpr.py681 collider_info: array_class.ColliderInfo,COMMENT
LOWgenesis/engine/solvers/rigid/collider/mpr.py701 # their respective geometry.COMMENT
LOWgenesis/engine/solvers/rigid/collider/contact.py861 j_cb -= 1COMMENT
LOWgenesis/engine/solvers/rigid/collider/gjk.py41 # Initialize static configuration.COMMENT
LOWgenesis/engine/solvers/rigid/constraint/solver.py2761):COMMENT
LOWgenesis/engine/solvers/rigid/constraint/solver.py6001 is_stalled = improvement > 0.0 and improvement < tol_scaledCOMMENT
LOWgenesis/engine/solvers/rigid/constraint/backward.py321COMMENT
LOWgenesis/engine/solvers/rigid/constraint/backward.py941 # deriv enters via (jac_qvel through jac2 = -deriv) and (jac[dof2] = -deriv).COMMENT
LOWgenesis/engine/solvers/rigid/constraint/backward.py1121 # pos_error = ga1 - ga2COMMENT
LOWgenesis/engine/entities/rigid_entity/rigid_geom.py141 # target. A non-convex geom tunnels when the cell is coarser than its thinnest wall, so the target is shrunkCOMMENT
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py621 # Keep track of whether parsed inertia can be considered validCOMMENT
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py1241 for g_info in g_infos:COMMENT
AI Slop Vocabulary13 hits · 34 pts
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MEDIUMtests/rigid/test_collision.py846 # It is robust to loosing a few contact points while still asserting the failure modes that matter.COMMENT
MEDIUMtests/rigid/test_collision_nonconvex.py549 # a small steady contact jitter in velocity, so the position band is the robust at-rest signal.COMMENT
MEDIUMtests/rigid/test_kinematics.py593 # FIXME: Implement a more robust plan planning algorithmCOMMENT
LOWgenesis/ext/_trimesh_patch.py222 # otherwise just use unmasked verticesCOMMENT
MEDIUMgenesis/ext/pyrender/trackball.py59 """Set the state of the trackball in order to change the effect ofSTRING
LOWgenesis/ext/pyrender/mesh.py309 # NOTE: most assets seems to have incorrect mat.diffuse when texture image exists, So let's justCOMMENT
MEDIUMgenesis/engine/sensors/tactile_shared.py416 # Averaged step vectors across all adjacent pairs along each axis -- robust to local jitter.COMMENT
MEDIUMgenesis/engine/solvers/rigid/abd/forward_dynamics.py263 # [0, i_d_]. The fast-math-robust inversion is required: a raw sqrt drops the j=0 entry ofCOMMENT
MEDIUMgenesis/engine/solvers/rigid/collider/narrowphase.py390 # would eject A. The pose-robust signature is that A's own center lies in a cavity rather than insideCOMMENT
MEDIUMgenesis/engine/solvers/rigid/collider/narrowphase.py405 # line is the stacking axis and the robust contact normal, so use it directly (b->a) for everyCOMMENT
MEDIUMgenesis/engine/solvers/rigid/collider/narrowphase.py2837 # pair, re-enqueue so the robust pass re-decides, instead of dropping it on a marginal frame.COMMENT
MEDIUMgenesis/engine/solvers/rigid/collider/mpr.py705 # should be fine otherwise. Anyway, this is not a big deal in practice and MPR is robust enough to converge toCOMMENT
MEDIUMgenesis/engine/solvers/rigid/constraint/noslip.py157 # Solve each mass block once, when visiting its first dof (order-robust, unlike previous-block tracking,COMMENT
Cross-File Repetition6 hits · 30 pts
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HIGHexamples/rigid/friction_breakaway.py0mjcf model of a free ball: a sphere collision geom with a checker-textured ball mesh as its visual, whose colorful patteSTRING
HIGHexamples/rigid/rolling_coast.py0mjcf model of a free ball: a sphere collision geom with a checker-textured ball mesh as its visual, whose colorful patteSTRING
HIGHexamples/rigid/torsional_grasp.py0mjcf model of a free ball: a sphere collision geom with a checker-textured ball mesh as its visual, whose colorful patteSTRING
HIGHgenesis/engine/scene.py0all the active solvers managed by the scene's simulator.STRING
HIGHgenesis/engine/couplers/legacy_coupler.py0all the active solvers managed by the scene's simulator.STRING
HIGHgenesis/engine/couplers/sap_coupler.py0all the active solvers managed by the scene's simulator.STRING
AI Structural Patterns29 hits · 27 pts
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LOWtests/grad/utils.py20CODE
LOWgenesis/__init__.py56CODE
LOWgenesis/ext/_trimesh_patch.py290CODE
LOWgenesis/ext/_trimesh_patch.py756CODE
LOWgenesis/ext/pyrender/material.py78CODE
LOWgenesis/ext/pyrender/material.py360CODE
LOWgenesis/ext/pyrender/material.py569CODE
LOWgenesis/ext/pyrender/viewer.py175CODE
LOWgenesis/ext/pyrender/viewer.py933CODE
LOWgenesis/ext/pyrender/mesh.py126CODE
LOWgenesis/ext/pyrender/primitive.py68CODE
LOWgenesis/ext/pyrender/texture.py44CODE
LOWgenesis/ext/pyrender/node.py48CODE
LOWgenesis/ext/pyrender/offscreen.py101CODE
LOWgenesis/utils/hybrid.py226CODE
LOWgenesis/utils/path_planning.py249CODE
LOWgenesis/utils/path_planning.py474CODE
LOWgenesis/utils/path_planning.py838CODE
LOWgenesis/vis/camera.py73CODE
LOWgenesis/engine/scene.py94CODE
LOWgenesis/engine/scene.py700CODE
LOWgenesis/engine/mesh.py64CODE
LOWgenesis/engine/mesh.py360CODE
LOWgenesis/engine/force_fields.py283CODE
LOWgenesis/engine/entities/rigid_entity/rigid_geom.py299CODE
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py2464CODE
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py3001CODE
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py3109CODE
LOWgenesis/engine/entities/rigid_entity/rigid_entity.py3421CODE
Modern Structural Boilerplate25 hits · 25 pts
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LOWtests/rigid/test_narrowphase.py404 def update_pos_quat_analytical(self, entity_idx: int, pos, euler) -> None:CODE
LOWtests/rigid/test_narrowphase.py408 def update_pos_quat_gjk(self, entity_idx: int, pos, euler) -> None:CODE
LOWgenesis/options/surfaces.py738 def update_texture(self, *, emissive_texture: Texture | None = None, force: bool = False, **kwargs) -> None:CODE
LOWgenesis/options/__init__.py20__all__ = [CODE
LOWgenesis/ext/urdfpy/__init__.py29__all__ = [CODE
LOWgenesis/ext/pyrender/viewer.py1554__all__ = ["Viewer"]CODE
LOWgenesis/ext/pyrender/light.py376__all__ = ["Light", "DirectionalLight", "SpotLight", "PointLight"]CODE
LOWgenesis/ext/pyrender/constants.py170__all__ = ["RenderFlags", "TextAlign", "GLTF"]CODE
LOWgenesis/ext/pyrender/__init__.py16__all__ = [CODE
LOWgenesis/ext/pyrender/camera.py391__all__ = ["Camera", "PerspectiveCamera", "OrthographicCamera", "IntrinsicsCamera"]CODE
LOWgenesis/ext/pyrender/offscreen.py288__all__ = ["OffscreenRenderer"]CODE
LOWgenesis/ext/pyrender/platforms/osmesa.py4__all__ = ["OSMesaPlatform"]CODE
LOWgenesis/ext/pyrender/platforms/egl.py317__all__ = ["EGLPlatform"]CODE
LOWgenesis/ext/pyrender/platforms/pyglet_platform.py8__all__ = ["PygletPlatform"]CODE
LOWgenesis/ext/pyrender/overlay/__init__.py6__all__ = ["ImGuiOverlayPlugin"]CODE
LOWgenesis/vis/viewer_plugins/base.py54 def update_on_sim_step(self) -> None:CODE
LOWgenesis/vis/viewer_plugins/raycast.py216 def update_on_sim_step(self) -> None:CODE
LOWgenesis/vis/viewer_plugins/plugins/mouse_interaction.py161 def update_on_sim_step(self) -> None:CODE
LOWgenesis/vis/viewer_plugins/plugins/mouse_interaction.py303 def _update_drag_plane(self) -> None:CODE
LOWgenesis/vis/viewer_plugins/plugins/__init__.py4__all__ = [CODE
LOWgenesis/assets/tower/generate_tower.py19logger = logging.getLogger(__name__)CODE
LOWgenesis/engine/couplers/ipc_coupler/__init__.py3__all__ = ["IPCCoupler"]CODE
LOWgenesis/engine/sensors/tactile_shared.py818 def _setup_crosstalk_grid(self, options) -> None:CODE
LOWgenesis/engine/solvers/kinematic_solver.py709 def set_state(self, f, state, envs_idx=None, *, partial: bool = False) -> None:CODE
LOWgenesis/engine/solvers/rigid/rigid_solver.py1778 def set_state(self, f, state, envs_idx=None, *, partial: bool = False) -> None:CODE
Dead Code12 hits · 24 pts
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MEDIUMgenesis/utils/geom.py1119CODE
MEDIUMgenesis/utils/tools.py112CODE
MEDIUMgenesis/utils/tools.py115CODE
MEDIUMgenesis/utils/tools.py118CODE
MEDIUMgenesis/utils/tools.py119CODE
MEDIUMgenesis/utils/tools.py120CODE
MEDIUMgenesis/utils/tools.py121CODE
MEDIUMgenesis/utils/tools.py123CODE
MEDIUMgenesis/utils/tools.py130CODE
MEDIUMgenesis/utils/tools.py139CODE
MEDIUMgenesis/utils/tools.py143CODE
MEDIUMgenesis/utils/tools.py144CODE
Cross-Language Confusion2 hits · 15 pts
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HIGHgenesis/ext/pyrender/mesh.py238 # If the trimesh visual is undefined, return none for bothCOMMENT
HIGHgenesis/engine/solvers/rigid/collider/mpr.py498 # Coincident centers (within the solver's absolute length resolution) leave the ray direction undefined; probeCOMMENT
Slop Phrases3 hits · 8 pts
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MEDIUMexamples/rigid/grasp_bottle.py98 ) # you can use position controlCODE
MEDIUMexamples/deformable/differentiable_push.py107 # you can use a scene_stateCOMMENT
MEDIUMexamples/deformable/differentiable_push.py114 # you can also use an entity's stateCOMMENT
Modern AI Meta-Vocabulary1 hit · 3 pts
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MEDIUMgenesis/engine/sensors/tactile_shared.py249 # Cached scaffolding bundle for kernel calls, built once on first use (the BVH is static after scene init).COMMENT