Genesis
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Genesis-Embodied-AI
我是在一个gpu平台上租的显卡，现在的问题是检测不到显示屏，有什么办法解决吗
在优云智算上租的显卡，但是他实际上是给我一个docker容器使用，安装运行示例代码会出现下面的问题
(Genesis) root@ca23621e2d9c:/workspace/Genesis# python test.py
[Genesis] [10:22:31] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [10:22:31] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [10:22:31] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [10:22:32] [INFO] Running on [NVIDIA GeForce RTX 4090] with backend gs.cuda. Device memory: 23.64 GB.
[Genesis] [10:22:32] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [10:22:33] [INFO] Scene <d8ddbcd> created.
[Genesis] [10:22:33] [INFO] Building scene <d8ddbcd>...
[Genesis] [10:22:33] [INFO] Compiling simulation kernels...
[Genesis] [10:22:33] [INFO] Building visualizer...
Traceback (most recent call last):
File "/workspace/Genesis/test.py", line 13, in <module>
scene.build()
File "/workspace/Genesis/genesis/utils/misc.py", line 38, in wrapper
return method(self, *args, **kwargs)
File "/workspace/Genesis/genesis/engine/scene.py", line 565, in build
self._visualizer.build()
File "/workspace/Genesis/genesis/vis/visualizer.py", line 110, in build
self._rasterizer.build()
File "/workspace/Genesis/genesis/vis/rasterizer.py", line 31, in build
self._renderer = pyrender.OffscreenRenderer(
File "/workspace/Genesis/genesis/ext/pyrender/offscreen.py", line 29, in __init__
self._create(pyopengl_platform)
File "/workspace/Genesis/genesis/ext/pyrender/offscreen.py", line 193, in _create
self._platform.init_context()
File "/workspace/Genesis/genesis/ext/pyrender/platforms/egl.py", line 205, in init_context
assert eglInitialize(self._egl_display, major, minor)
File "/root/miniconda3/envs/Genesis/lib/python3.9/site-packages/OpenGL/platform/baseplatform.py", line 415, in __call__
return self( *args, **named )
File "/root/miniconda3/envs/Genesis/lib/python3.9/site-packages/OpenGL/error.py", line 230, in glCheckError
raise self._errorClass(
OpenGL.raw.EGL._errors.EGLError: EGLError(
err = EGL_NOT_INITIALIZED,
baseOperation = eglInitialize,
cArguments = (
<OpenGL._opaque.EGLDisplay_pointer object at 0x7f33c80a48c0>,
c_long(0),
c_long(0),
),
result = 0
)
下面是我的代码
import genesis as gs
gs.init(backend=gs.gpu)
scene = gs.Scene(show_viewer=False)
cam = scene.add_camera(
res = (1280, 960),
pos = (3.5, 0.0, 2.5),
lookat = (0, 0, 0.5),
fov = 30,
GUI = False
)
scene.build()
# render rgb, depth, segmentation mask and normal map
rgb, depth, segmentation, normal = cam.render(depth=True, segmentation=True, normal=True)
# start camera recording. Once this is started, all the rgb images rendered will be recorded internally
cam.start_recording()
import numpy as np
for i in range(120):
scene.step()
# change camera position
cam.set_pose(
pos = (3.0 * np.sin(i / 60), 3.0 * np.cos(i / 60), 2.5),
lookat = (0, 0, 0.5),
)
cam.render()
# stop recording and save video. If `filename` is not specified, a name will be auto-generated using the caller file name.
cam.stop_recording(save_to_filename='video.mp4', fps=60)
下面是运行glxinfo | grep "OpenGL"的输出
OpenGL vendor string: Mesa
OpenGL renderer string: llvmpipe (LLVM 15.0.7, 256 bits)
OpenGL version string: 4.5 (Compatibility Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL shading language version string: 4.50
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL extensions:
试一试这个 issue #50 里面给出的两个 docker，一个是源码编译，一个是直接安装。
不行，我租的平台本身就是用docker的容器给我使用的，我没用办法使用Dockerfile创建容器。不过我会在自己的电脑上尝试，感谢！
抱歉我们发现远程gpu是会有render的问题，如果有什么进展欢迎分享！（我们现在人手有点捉急。。。）
辛苦啦。
我测试发现gpu占用只有600MB，然后将示例代码的for循环x10，然后经过1分钟之后，黑窗口会显示画面，但是会很卡XD，在显示的画面中输入i要过十来秒才能看到子选项
下面是我gpu占用情况
下面是我运行的代码
import numpy as np
import genesis as gs
########################## init ##########################
gs.init(backend=gs.gpu)
########################## create a scene ##########################
scene = gs.Scene(
viewer_options = gs.options.ViewerOptions(
camera_pos = (0, -3.5, 2.5),
camera_lookat = (0.0, 0.0, 0.5),
camera_fov = 30,
res = (960, 640),
max_FPS = 60,
),
sim_options = gs.options.SimOptions(
dt = 0.01,
),
show_viewer = True,
)
########################## entities ##########################
plane = scene.add_entity(
gs.morphs.Plane(),
)
franka = scene.add_entity(
gs.morphs.MJCF(
file = 'xml/franka_emika_panda/panda.xml',
),
)
########################## build ##########################
scene.build()
jnt_names = [
'joint1',
'joint2',
'joint3',
'joint4',
'joint5',
'joint6',
'joint7',
'finger_joint1',
'finger_joint2',
]
dofs_idx = [franka.get_joint(name).dof_idx_local for name in jnt_names]
############ Optional: set control gains ############
# set positional gains
franka.set_dofs_kp(
kp = np.array([4500, 4500, 3500, 3500, 2000, 2000, 2000, 100, 100]),
dofs_idx_local = dofs_idx,
)
# set velocity gains
franka.set_dofs_kv(
kv = np.array([450, 450, 350, 350, 200, 200, 200, 10, 10]),
dofs_idx_local = dofs_idx,
)
# set force range for safety
franka.set_dofs_force_range(
lower = np.array([-87, -87, -87, -87, -12, -12, -12, -100, -100]),
upper = np.array([ 87, 87, 87, 87, 12, 12, 12, 100, 100]),
dofs_idx_local = dofs_idx,
)
# Hard reset
for i in range(150):
if i < 50:
franka.set_dofs_position(np.array([1, 1, 0, 0, 0, 0, 0, 0.04, 0.04]), dofs_idx)
elif i < 100:
franka.set_dofs_position(np.array([-1, 0.8, 1, -2, 1, 0.5, -0.5, 0.04, 0.04]), dofs_idx)
else:
franka.set_dofs_position(np.array([0, 0, 0, 0, 0, 0, 0, 0, 0]), dofs_idx)
scene.step()
# PD control
for i in range(12500):
if i == 0:
franka.control_dofs_position(
np.array([1, 1, 0, 0, 0, 0, 0, 0.04, 0.04]),
dofs_idx,
)
elif i % 250 == 0:
franka.control_dofs_position(
np.array([-1, 0.8, 1, -2, 1, 0.5, -0.5, 0.04, 0.04]),
dofs_idx,
)
elif i % 500 == 0:
franka.control_dofs_position(
np.array([0, 0, 0, 0, 0, 0, 0, 0, 0]),
dofs_idx,
)
elif i % 750 == 0:
# control first dof with velocity, and the rest with position
franka.control_dofs_position(
np.array([0, 0, 0, 0, 0, 0, 0, 0, 0])[1:],
dofs_idx[1:],
)
franka.control_dofs_velocity(
np.array([1.0, 0, 0, 0, 0, 0, 0, 0, 0])[:1],
dofs_idx[:1],
)
elif i % 1000 == 0:
franka.control_dofs_force(
np.array([0, 0, 0, 0, 0, 0, 0, 0, 0]),
dofs_idx,
)
# This is the control force computed based on the given control command
# If using force control, it's the same as the given control command
print('control force:', franka.get_dofs_control_force(dofs_idx))
# This is the actual force experienced by the dof
print('internal force:', franka.get_dofs_force(dofs_idx))
scene.step()
我也是这么做的安装了sudo apt install ubuntu-desktop和sudo apt-get install tightvncserver。但是出现了可视化需要重新开一个端口才能显示的问题
我也是这么做的安装了sudo apt install ubuntu-desktop和sudo apt-get install tightvncserver。但是出现了可视化需要重新开一个端口才能显示的问题
你那边也是在原来窗口显示的话会黑屏吗？
