Genesis-Embodied-AI
MacOS Error for name 'trimesh' is not defined; Failed to import pyrender. Rendering will not work.
(genesis) baihaotian@Bais-MacBook-Pro-2 space_time_inpaint % python test.py
objc[73181]: Class GLFWHelper is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x1733f4570) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x317cd97c0). One of the two will be used. Which one is undefined.
objc[73181]: Class GLFWApplicationDelegate is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x1733f45c0) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x317cd9810). One of the two will be used. Which one is undefined.
objc[73181]: Class GLFWWindowDelegate is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x1733f45e8) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x317cd9838). One of the two will be used. Which one is undefined.
objc[73181]: Class GLFWContentView is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x1733f4638) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x317cd9888). One of the two will be used. Which one is undefined.
objc[73181]: Class GLFWWindow is implemented in both /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x1733f46b0) and /opt/anaconda3/envs/genesis/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x317cd9900). One of the two will be used. Which one is undefined.
Failed to import pyrender. Rendering will not work.
[Genesis] [15:57:22] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [15:57:22] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [15:57:22] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [15:57:22] [INFO] Running on [Apple M1 Pro] with backend gs.cpu. Device memory: 16.00 GB.
[Genesis] [15:57:22] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
Traceback (most recent call last):
File "/Users/baihaotian/code/space_time_inpaint/test.py", line 4, in
Did brew install ffmpeg then got another error import LuisaRenderPy. Installed pip install luisa-python and tried again, but can't import the package:
(py3.11) ➜ rendering git:(main) pip install luisa-python
Collecting luisa-python
Downloading luisa_python-0.3.7-cp311-cp311-macosx_14_0_arm64.whl.metadata (33 kB)
Collecting sourceinspect (from luisa-python)
Downloading sourceinspect-0.0.4-py3-none-any.whl.metadata (1.1 kB)
Requirement already satisfied: numpy in /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages (from luisa-python) (1.26.4)
Requirement already satisfied: dill in /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages (from sourceinspect->luisa-python) (0.3.8)
Downloading luisa_python-0.3.7-cp311-cp311-macosx_14_0_arm64.whl (23.9 MB)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 23.9/23.9 MB 7.0 MB/s eta 0:00:00
Downloading sourceinspect-0.0.4-py3-none-any.whl (3.5 kB)
Installing collected packages: sourceinspect, luisa-python
Successfully installed luisa-python-0.3.7 sourceinspect-0.0.4
(py3.11) ➜ rendering git:(main) python demo.py
objc[53611]: Class GLFWHelper is implemented in both /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e00570) and /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x377a517c0). One of the two will be used. Which one is undefined.
objc[53611]: Class GLFWApplicationDelegate is implemented in both /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e005c0) and /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x377a51810). One of the two will be used. Which one is undefined.
objc[53611]: Class GLFWWindowDelegate is implemented in both /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e005e8) and /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x377a51838). One of the two will be used. Which one is undefined.
objc[53611]: Class GLFWContentView is implemented in both /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e00638) and /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x377a51888). One of the two will be used. Which one is undefined.
objc[53611]: Class GLFWWindow is implemented in both /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/taichi/_lib/core/taichi_python.cpython-311-darwin.so (0x329e006b0) and /opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/pygel3d/libPyGEL.dylib (0x377a51900). One of the two will be used. Which one is undefined.
[Genesis] [09:35:43] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [09:35:43] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [09:35:43] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [09:35:43] [INFO] Running on [Apple M3 Max] with backend gs.metal. Device memory: 128.00 GB.
[Genesis] [09:35:43] [DEBUG] [Taichi] version 1.7.2, llvm 15.0.7, commit 0131dce9, osx, python 3.11.8
[Genesis] [09:35:43] [DEBUG] [Taichi] Starting on arch=metal
[Genesis] [09:35:43] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: 0, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
Traceback (most recent call last):
File "/opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/genesis/vis/raytracer.py", line 17, in <module>
import LuisaRenderPy
ModuleNotFoundError: No module named 'LuisaRenderPy'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/Users/dome/work/general/Genesis/examples/rendering/demo.py", line 166, in <module>
main()
File "/Users/dome/work/general/Genesis/examples/rendering/demo.py", line 11, in main
scene = gs.Scene(
^^^^^^^^^
File "/opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/genesis/utils/misc.py", line 27, in new_init
original_init(self, *args, **kwargs)
File "/opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/genesis/engine/scene.py", line 148, in __init__
self._visualizer = Visualizer(
^^^^^^^^^^^
File "/opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/genesis/vis/visualizer.py", line 60, in __init__
from .raytracer import Raytracer
File "/opt/homebrew/Caskroom/miniconda/base/envs/py3.11/lib/python3.11/site-packages/genesis/vis/raytracer.py", line 19, in <module>
gs.raise_exception(f"Failed to import LuisaRenderer. {e.__class__.__name__}: {e}")
[Genesis] [09:35:45] [ERROR] Failed to import LuisaRenderer. ModuleNotFoundError: No module named 'LuisaRenderPy'
[Genesis] [09:35:45] [INFO] 💤 Exiting Genesis and caching compiled kernels...
I am sorry that Luisa requires cuda, and it is only supported on ubuntu now. you can use rasterization on macOS. Here is an example: https://github.com/Genesis-Embodied-AI/Genesis/blob/main/examples/render_on_macos.py
The readme states that it supports metal too: https://github.com/LuisaGroup/LuisaCompute?tab=readme-ov-file#backends-context-devices-and-resources
LuisaCompute currently supports these backends: CUDA DirectX Metal CPU (Clang + LLVM)
Update: wrong repo, this is the renderer I guess https://github.com/LuisaGroup/LuisaRender, but even here they state:
Currently, we support CUDA on Linux and Windows; DirectX on Windows; Metal on macOS
render_on_macos.py works for me.
However, other examples are buggy on my system, like if I modify the elastic dragon example, the viewer initially doesn't open (but only after a few secs) and at some point it becomes responsive. Still, I can see the dragon moving:
import argparse
import numpy as np
import genesis as gs
from time import time
import threading
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", default=False)
parser.add_argument("-c", "--cpu", action="store_true", default=False)
args = parser.parse_args()
########################## init ##########################
gs.init(backend=gs.cpu if args.cpu else gs.gpu, logging_level="debug")
########################## create a scene ##########################
scene = gs.Scene(
sim_options=gs.options.SimOptions(
substeps=10,
gravity=(0, 0, -9.8),
),
viewer_options=gs.options.ViewerOptions(
camera_pos=(2, 2, 1.5),
camera_lookat=(0, 0, 0.5),
camera_up=(0, 0, 1),
camera_fov=40,
),
show_viewer=args.vis,
)
########################## materials ##########################
mat_elastic = gs.materials.PBD.Elastic()
########################## entities ##########################
bunny = scene.add_entity(
material=mat_elastic,
morph=gs.morphs.Mesh(
file="meshes/dragon/dragon.obj",
scale=0.003,
pos=(0, 0, 0.8),
),
surface=gs.surfaces.Default(
# vis_mode='recon',
),
)
########################## build ##########################
scene.build()
gs.tools.run_in_another_thread(fn=run_sim, args=(scene, args.vis))
if args.vis:
scene.viewer.start()
def run_sim(scene, enable_vis):
horizon = 1000
t_prev = time()
# forward pass
for i in range(horizon):
scene.step()
t_now = time()
print(1 / (t_now - t_prev), "FPS")
t_prev = t_now
# if enable_vis:
# scene.viewer.stop()
if __name__ == "__main__":
main()
See #26 and the fix in #27
tl;dr: install
ffmpegusing Brew
Sadly I have ffmpeg installed and this rendering error's still happending
I am sorry that Luisa requires cuda, and it is only supported on ubuntu now. you can use rasterization on macOS. Here is an example: https://github.com/Genesis-Embodied-AI/Genesis/blob/main/examples/render_on_macos.py
hey @zhenjia-xu , thank you for providing the Mac example!
I managed to run it on my Mac M2 (MacOS 15.1.1 (24B91)) without visualization:
Genesis] [12:04:26] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [12:04:26] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [12:04:26] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [12:04:26] [INFO] Running on [Apple M2 Pro] with backend gs.cpu. Device memory: 16.00 GB.
[Genesis] [12:04:26] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [12:04:27] [INFO] Scene <206b3e3> created.
[Genesis] [12:04:27] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0d516d2>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [12:04:27] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <35567b2>, morph: <gs.morphs.MJCF(file='/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/assets/xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>.
[Genesis] [12:04:27] [INFO] Building scene <206b3e3>...
[Genesis] [12:04:30] [INFO] Compiling simulation kernels...
[Genesis] [12:04:34] [INFO] Building visualizer...
2024-12-19 12:04:35.799 Python[45772:491212] ApplePersistenceIgnoreState: Existing state will not be touched. New state will be written to /var/folders/06/0wpmxt1s16x42b5b953l0tf40000gn/T/org.python.python.savedState
[Genesis] [12:04:35] [INFO] Running at 44897.51 FPS.
2082.573982125124 FPS
...
[Genesis] [12:04:57] [INFO] Running at 4927.31 FPS.
5047.297232250301 FPS
[Genesis] [12:04:57] [INFO] 💤 Exiting Genesis and caching compiled kernels...
However, when I tried to visualize (-v) then it raises more errors like
uniform not found: M
uniform not found: material.base_color_factor
uniform not found: material.metallic_factor
uniform not found: material.roughness_factor
uniform not found: material.emissive_factor
and then hangs on:
Traceback (most recent call last):
File "/Users/tkornuta/workspace/genesis-playground/hello_franka2.py", line 66, in <module>
main()
File "/Users/tkornuta/workspace/genesis-playground/hello_franka2.py", line 42, in main
scene.viewer.start()
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/vis/viewer.py", line 91, in start
self._pyrender_viewer.start()
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/ext/pyrender/viewer.py", line 386, in start
self._init_and_start_app()
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/ext/pyrender/viewer.py", line 1149, in _init_and_start_app
pyglet.clock.tick()
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/pyglet/clock.py", line 528, in tick
return _default.tick(poll)
^^^^^^^^^^^^^^^^^^^
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/pyglet/clock.py", line 270, in tick
self.call_scheduled_functions(delta_t)
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/pyglet/clock.py", line 217, in call_scheduled_functions
item.func(now - item.last_ts, *item.args, **item.kwargs)
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/ext/pyrender/viewer.py", line 941, in _time_event
self.on_draw()
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/ext/pyrender/viewer.py", line 654, in on_draw
self._renderer.render_texts(
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/ext/pyrender/renderer.py", line 258, in render_texts
self._configure_forward_pass_viewport(0)
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/genesis/ext/pyrender/renderer.py", line 1160, in _configure_forward_pass_viewport
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0)
File "/Users/tkornuta/Library/Caches/pypoetry/virtualenvs/genesis-playground-qtabWyTy-py3.11/lib/python3.11/site-packages/OpenGL/error.py", line 230, in glCheckError
raise self._errorClass(
OpenGL.error.GLError: GLError(
err = 1282,
description = b'invalid operation',
baseOperation = glBindFramebuffer,
cArguments = (GL_DRAW_FRAMEBUFFER, 0)
)
I've installed ffmpg (brew) and pyopenGL (poetry), here's my pyproject.toml
tkornuta@TK-14 ~/workspace/genesis-playground cat pyproject.toml SIGABRT(6) ↵ 6534 12:13:08
[tool.poetry]
name = "genesis-playground"
version = "0.1.0"
description = ""
authors = ["Tomasz Kornuta <[email protected]>"]
readme = "README.md"
[tool.poetry.dependencies]
python = "^3.11"
genesis-world = "^0.2.0"
torch = "^2.5.1"
torchvision = "^0.20.1"
pyopengl = "^3.1.7"
trimesh = "^4.5.3"
blender = "^1.4"
manifold3d = "^3.0.0"
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"
any hints how to solve this?
Same Error occured when I run the sample code. The error traceback indicates that the issue is still related to trimesh not being defined. Specifically, the error occurs within the genesis library when it tries to initialize the Visualizer and calls trimesh.creation.axis, but trimesh is not defined.
、、、
Traceback (most recent call last):
File "/Users/violetbenin/import genesis as gs.py", line 7, in
@VioletBenin I'm having same error if someone find solution please let me know. Thank you
@VioletBenin I'm having same error if someone find solution please let me know. Thank you
The solution is set an older venison of PyGEL3D like 0.1.0. The most updated one made conflict with Taichi 1.7.2.
#179
and then hangs on:
OpenGL.error.GLError: GLError( err = 1282, description = b'invalid operation', baseOperation = glBindFramebuffer, cArguments = (GL_DRAW_FRAMEBUFFER, 0) )
Same thing happens for me. Runs without visualisation, but hangs when I try running with -v flag. Have installed ffmpeg and downgraded PyGEL3D to version 0.1.0 to remove conflicts with Taichi.
SOLUTION:
- install ffmpeg on your system
- put this in your main runtime to make sure that your code points correctly to your ffmpeg binary
import os os.environ["IMAGEIO_FFMPEG_EXE"] = "/usr/bin/ffmpeg" (replace with the correct ffmpeg path)
Chiming in here in case anybody encounters this and above does not help:
I was running Python 3.12 and I was getting the same issue. Downgrading to Python 3.11 works fine. Seems to be related to Taichi: #513
