Normalize imported and rendered color spaces

CHANGELOG.md

@@ -66,6 +66,7 @@
 - Migrate `wp.array(dtype=X)` type annotations to `wp.array[X]` bracket syntax (Warp 1.12+).
 - Align articulated `State.body_qd` / FK / IK / Jacobian / mass-matrix linear velocity with COM-referenced motion. If you were comparing `body_qd[:3]` against finite-differenced body-origin motion, recover origin velocity via `v_origin = v_com - omega x r_com_world`. Descendant `FREE` / `DISTANCE` `joint_qd` remains parent-frame and `joint_f` remains a world-frame COM wrench.
 - Pin `mujoco` and `mujoco-warp` dependencies to `~=3.6.0`
+- Store `Model.shape_color` in linear RGB instead of display/sRGB, honor USD-authored color-space metadata for imported material/display colors and textures, and let `SensorTiledCamera` keep packed color/albedo outputs in linear bytes when `RenderConfig.encode_output_srgb=False`. If you write colors directly into `Model.shape_color`, convert any display/sRGB values to linear first.
 
 ### Deprecated
 

newton/_src/geometry/types.py

@@ -164,6 +164,7 @@ def __init__(
         self.color = color
         # Store texture lazily: strings/paths are kept as-is, arrays are normalized
         self._texture = _normalize_texture_input(texture)
+        self._texture_color_space = "auto"
         self._roughness = roughness
         self._metallic = metallic
         self.is_solid = is_solid
@@ -689,6 +690,7 @@ def copy(
             roughness=self._roughness,
             metallic=self._metallic,
         )
+        m._texture_color_space = self._texture_color_space
         if not recompute_inertia:
             m.inertia = self.inertia
             m.mass = self.mass
@@ -841,7 +843,7 @@ def uvs(self):
 
     @property
     def color(self) -> Vec3 | None:
-        """Optional display RGB color with values in [0, 1]."""
+        """Optional linear RGB color with values in [0, 1]."""
         return self._color
 
     @color.setter
@@ -857,6 +859,7 @@ def texture(self) -> str | np.ndarray | None:
     def texture(self, value: str | np.ndarray | None):
         # Store texture lazily: strings/paths are kept as-is, arrays are normalized
         self._texture = _normalize_texture_input(value)
+        self._texture_color_space = "auto"
         self._texture_hash = None
         self._cached_hash = None
 

newton/_src/sensors/sensor_tiled_camera.py

@@ -37,17 +37,26 @@ class SensorTiledCamera(metaclass=_SensorTiledCameraMeta):
 
     Renders up to five image channels per (world, camera) pair:
 
-    - **color** -- RGBA shaded image (``uint32``).
+    - **color** -- RGBA shaded image packed into ``uint32``. By default these
+      bytes are display/sRGB-encoded; set
+      ``SensorTiledCamera.RenderConfig.encode_output_srgb=False`` to keep them
+      linear.
     - **depth** -- ray-hit distance [m] (``float32``); negative means no hit.
     - **normal** -- surface normal at hit point (``vec3f``).
-    - **albedo** -- unshaded surface color (``uint32``).
+    - **albedo** -- unshaded surface color packed into ``uint32`` using the
+      same output encoding convention as **color**.
     - **shape_index** -- shape id per pixel (``uint32``).
 
     All output arrays have shape ``(world_count, camera_count, height, width)``. Use the ``flatten_*`` helpers to
     rearrange them into tiled RGBA buffers for display, with one tile per (world, camera) pair laid out in a grid.
 
     Shapes without the ``VISIBLE`` flag are excluded.
 
+    Shape colors and texture lighting are evaluated in linear RGB internally.
+    Mesh textures authored as sRGB are converted to linear before shading, and
+    the packed ``color``/``albedo`` outputs are optionally encoded back to
+    display/sRGB at the end.
+
     Example:
         ::
 
@@ -119,7 +128,9 @@ def __init__(self, model: Model, *, config: Config | RenderConfig | None = None,
             config: Rendering configuration. Pass a :class:`RenderConfig` to
                 control raytrace settings directly, or ``None`` to use
                 defaults. The legacy :class:`Config` dataclass is still
-                accepted but deprecated.
+                accepted but deprecated. Use
+                ``RenderConfig.encode_output_srgb`` to control whether packed
+                ``color``/``albedo`` outputs are display-encoded or left linear.
             load_textures: Load texture data from the model. Set to ``False``
                 to skip texture loading when textures are not needed.
         """
@@ -196,11 +207,14 @@ def update(
             camera_transforms: Camera-to-world transforms, shape ``(camera_count, world_count)``.
             camera_rays: Camera-space rays from :meth:`compute_pinhole_camera_rays`, shape
                 ``(camera_count, height, width, 2)``.
-            color_image: Output for RGBA color. None to skip.
+            color_image: Output for packed RGBA color. The bytes are sRGB by
+                default, or linear when
+                ``render_config.encode_output_srgb=False``. None to skip.
             depth_image: Output for ray-hit distance [m]. None to skip.
             shape_index_image: Output for per-pixel shape id. None to skip.
             normal_image: Output for surface normals. None to skip.
-            albedo_image: Output for unshaded surface color. None to skip.
+            albedo_image: Output for packed RGBA albedo. Uses the same output
+                encoding convention as ``color_image``. None to skip.
             refit_bvh: Refit the BVH before rendering.
             clear_data: Values to clear output buffers with.
                 See :attr:`DEFAULT_CLEAR_DATA`, :attr:`GRAY_CLEAR_DATA`.

newton/_src/sensors/warp_raytrace/render.py

@@ -8,6 +8,7 @@
 import warp as wp
 
 from ...geometry import Gaussian, GeoType
+from ...utils.color import linear_to_srgb_wp
 from . import lighting, raytrace, textures, tiling
 from .types import MeshData, RenderOrder, TextureData
 
@@ -194,7 +195,10 @@ def render_megakernel(
                     albedo_color = wp.cw_mul(albedo_color, tex_color)
 
         if wp.static(state.render_albedo):
-            out_albedo[out_index] = tiling.pack_rgba_to_uint32(albedo_color, 1.0)
+            packed_albedo = albedo_color
+            if wp.static(config.encode_output_srgb):
+                packed_albedo = linear_to_srgb_wp(packed_albedo)
+            out_albedo[out_index] = tiling.pack_rgba_to_uint32(packed_albedo, 1.0)
 
         if not wp.static(state.render_color):
             return
@@ -243,6 +247,9 @@ def render_megakernel(
                 )
                 shaded_color = shaded_color + albedo_color * light_contribution
 
-        out_color[out_index] = tiling.pack_rgba_to_uint32(shaded_color, 1.0)
+        packed_color = shaded_color
+        if wp.static(config.encode_output_srgb):
+            packed_color = linear_to_srgb_wp(packed_color)
+        out_color[out_index] = tiling.pack_rgba_to_uint32(packed_color, 1.0)
 
     return render_megakernel

newton/_src/sensors/warp_raytrace/render_context.py

@@ -14,6 +14,7 @@
 from ...geometry import Gaussian, GeoType, Mesh, ShapeFlags
 from ...sim import Model, State
 from ...utils import load_texture, normalize_texture
+from ...utils.color import texture_color_space_to_id
 from .bvh import (
     compute_bvh_group_roots,
     compute_particle_bvh_bounds,
@@ -697,7 +698,8 @@ def __load_texture_and_mesh_data(self, model: Model, load_textures: bool):
         for shape in model.shape_source:
             if isinstance(shape, Mesh):
                 if shape.texture is not None and load_textures:
-                    if shape.texture_hash not in texture_hashes:
+                    texture_key = (shape.texture_hash, getattr(shape, "_texture_color_space", "auto"))
+                    if texture_key not in texture_hashes:
                         pixels = load_texture(shape.texture)
                         if pixels is None:
                             raise ValueError(f"Failed to load texture: {shape.texture}")
@@ -707,7 +709,7 @@ def __load_texture_and_mesh_data(self, model: Model, load_textures: bool):
                         if pixels.dtype != np.uint8:
                             pixels = pixels.astype(np.uint8, copy=False)
 
-                        texture_hashes[shape.texture_hash] = len(self.__texture_data)
+                        texture_hashes[texture_key] = len(self.__texture_data)
 
                         data = TextureData()
                         data.texture = wp.Texture2D(
@@ -720,9 +722,10 @@ def __load_texture_and_mesh_data(self, model: Model, load_textures: bool):
                             device=self.device,
                         )
                         data.repeat = wp.vec2f(1.0, 1.0)
+                        data.color_space = texture_color_space_to_id(getattr(shape, "_texture_color_space", "auto"))
                         self.__texture_data.append(data)
 
-                    texture_data_ids.append(texture_hashes[shape.texture_hash])
+                    texture_data_ids.append(texture_hashes[texture_key])
                 else:
                     texture_data_ids.append(-1)
 

newton/_src/sensors/warp_raytrace/textures.py

@@ -4,6 +4,7 @@
 import warp as wp
 
 from ...geometry import GeoType
+from ...utils.color import TEXTURE_COLOR_SPACE_RAW_ID, srgb_to_linear_wp
 from .types import MeshData, TextureData
 
 
@@ -15,7 +16,10 @@ def flip_v(uv: wp.vec2f) -> wp.vec2f:
 @wp.func
 def sample_texture_2d(uv: wp.vec2f, texture_data: TextureData) -> wp.vec3f:
     color = wp.texture_sample(texture_data.texture, uv, dtype=wp.vec4f)
-    return wp.vec3f(color[0], color[1], color[2])
+    rgb = wp.vec3f(color[0], color[1], color[2])
+    if texture_data.color_space != TEXTURE_COLOR_SPACE_RAW_ID:
+        rgb = srgb_to_linear_wp(rgb)
+    return rgb
 
 
 @wp.func

newton/_src/sensors/warp_raytrace/tiling.py

@@ -69,7 +69,8 @@ def tid_to_coord_view_priority(tid: wp.int32, camera_count: wp.int32, width: wp.
 
 @wp.func
 def pack_rgba_to_uint32(rgb: wp.vec3f, alpha: wp.float32) -> wp.uint32:
-    """Pack RGBA values into a single uint32 for efficient memory access."""
+    """Pack RGB bytes plus alpha into a single ``uint32``."""
+
     return (
         (wp.clamp(wp.uint32(alpha * 255.0), wp.uint32(0), wp.uint32(255)) << wp.uint32(24))
         | (wp.clamp(wp.uint32(rgb[2] * 255.0), wp.uint32(0), wp.uint32(255)) << wp.uint32(16))

newton/_src/sensors/warp_raytrace/types.py

@@ -60,6 +60,14 @@ class RenderConfig:
     enable_backface_culling: bool = True
     """Cull back-facing triangles."""
 
+    encode_output_srgb: bool = True
+    """Encode packed color/albedo outputs to display/sRGB.
+
+    When ``False``, :class:`SensorTiledCamera` writes packed linear RGB bytes
+    instead, which can be useful for training pipelines that want to avoid
+    display transfer functions.
+    """
+
     render_order: int = RenderOrder.PIXEL_PRIORITY
     """Render traversal order (see :class:`RenderOrder`)."""
 
@@ -115,7 +123,9 @@ class TextureData:
     Attributes:
         texture: 2D Texture as ``wp.Texture2D``.
         repeat: UV tiling factors along U and V axes.
+        color_space: ``0`` for raw/linear textures, ``1`` for sRGB textures.
     """
 
     texture: wp.Texture2D
     repeat: wp.vec2f
+    color_space: wp.int32

newton/_src/sensors/warp_raytrace/utils.py

@@ -160,7 +160,10 @@ def create_color_image_output(self, width: int, height: int, camera_count: int =
             camera_count: Number of cameras.
 
         Returns:
-            Array of shape ``(world_count, camera_count, height, width)``, dtype ``uint32``.
+            Array of shape ``(world_count, camera_count, height, width)``,
+            dtype ``uint32``. Each pixel stores packed RGBA bytes in either
+            display/sRGB or linear space depending on
+            ``render_config.encode_output_srgb``.
         """
         return wp.zeros(
             (self.__render_context.world_count, camera_count, height, width),
@@ -228,7 +231,10 @@ def create_albedo_image_output(self, width: int, height: int, camera_count: int
             camera_count: Number of cameras.
 
         Returns:
-            Array of shape ``(world_count, camera_count, height, width)``, dtype ``uint32``.
+            Array of shape ``(world_count, camera_count, height, width)``,
+            dtype ``uint32``. Each pixel stores packed RGBA bytes in either
+            display/sRGB or linear space depending on
+            ``render_config.encode_output_srgb``.
         """
         return wp.zeros(
             (self.__render_context.world_count, camera_count, height, width),
@@ -338,7 +344,10 @@ def flatten_color_image_to_rgba(
         Arranges ``(world_count * camera_count)`` tiles in a grid. Each tile shows one camera's view of one world.
 
         Args:
-            image: Color output from :meth:`~SensorTiledCamera.update`, shape ``(world_count, camera_count, height, width)``.
+            image: Color output from :meth:`~SensorTiledCamera.update`, shape
+                ``(world_count, camera_count, height, width)``. The packed
+                bytes are copied as-is; no additional color-space conversion is
+                performed here.
             out_buffer: Pre-allocated RGBA buffer. If None, allocates a new one.
             worlds_per_row: Tiles per row in the grid. If None, picks a square-ish layout.
         """