hello world example doesnt produce video

[jtoy]

import genesis as gs

gs.init(backend=gs.gpu)

scene = gs.Scene( show_viewer = True, viewer_options = gs.options.ViewerOptions( res = (1280, 960), camera_pos = (3.5, 0.0, 2.5), camera_lookat = (0.0, 0.0, 0.5), camera_fov = 40, max_FPS = 60, ), vis_options = gs.options.VisOptions( show_world_frame = True, world_frame_size = 1.0, show_link_frame = False, show_cameras = False, plane_reflection = True, ambient_light = (0.1, 0.1, 0.1), ), renderer=gs.renderers.Rasterizer(), )

plane = scene.add_entity( gs.morphs.Plane(), ) franka = scene.add_entity( gs.morphs.MJCF(file='xml/franka_emika_panda/panda.xml'), )

cam = scene.add_camera( res = (640, 480), pos = (3.5, 0.0, 2.5), lookat = (0, 0, 0.5), fov = 30, GUI = False, )

scene.build()

render rgb, depth, segmentation, and normal

rgb, depth, segmentation, normal = cam.render(rgb=True, depth=True, segmentation=True, normal=True)

cam.start_recording() import numpy as np

for i in range(120): scene.step() 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() cam.stop_recording(save_to_filename='video.mp4', fps=30)

it just seems to sit there:

[Genesis] [11:36:48] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮ [Genesis] [11:36:48] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│ [Genesis] [11:36:48] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯ [Genesis] [11:36:49] [INFO] Running on [Apple M1 Max] with backend gs.metal. Device memory: 32.00 GB. [Genesis] [11:36:49] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'. [Genesis] [11:36:49] [INFO] Scene <69300f1> created. [Genesis] [11:36:49] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <7cfebb9>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>. [Genesis] [11:36:49] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <3a76479>, morph: <gs.morphs.MJCF(file='/Users/jtoy/.asdf/installs/python/3.10.4/lib/python3.10/site-packages/genesis/assets/xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>. [Genesis] [11:36:50] [INFO] Building scene <69300f1>... [Genesis] [11:36:54] [INFO] Compiling simulation kernels... [Genesis] [11:36:59] [INFO] Building visualizer... [Genesis] [11:37:01] [WARNING] Non-linux system detected. In order to use the interactive viewer, you need to manually run simulation in a separate thread and then start viewer. See examples/render_on_macos.py. [Genesis] [11:37:01] [INFO] Viewer created. Resolution: 1280×960, max_FPS: 60. [Genesis] [11:37:01] [INFO] Running at 2824.03 FPS.

[apandy02]

Same problem while running examples/render_on_macos.py on M3 Max

[RobRoyce]

@apandy02 are you running it with the --vis flag?

@jtoy as a baseline, does the hello_genesis.py tutorial work for you?

I had a similar issue trying to add a new camera to the scene, so it's hard to tell if that's your issue or something more fundamental.

[jtoy]

I got the elastic_dragon example working,I modified it to add a camera and get video, so I think the hello world example is not fully working properly.

import argparse

import numpy as np

import genesis as gs

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),
    ),
    show_viewer=args.vis,
)
cam = scene.add_camera(
    res    = (1280, 720),
    pos    = (3.5, 0.0, 2.5),
    lookat = (0, 0, 0.5),
    fov    = 30,
    GUI    = False,
)

########################## 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()

horizon = 1000
# forward pass
cam.start_recording()
for i in range(horizon):
    scene.step()
    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()

cam.stop_recording(save_to_filename='video.mp4', fps=30)

if name == "main": main()

[vinny-888]

I got the elastic_dragon example working,I modified it to add a camera and get video, so I think the hello world example is not fully working properly.

I still get this error with your working sample on M1 Max

OpenGL.error.GLError: GLError(
	err = 1282,
	description = b'invalid operation',
	baseOperation = glBindFramebuffer,
	cArguments = (GL_READ_FRAMEBUFFER, 3)
)

[analogjedi]

@vinny-888 , I am also having OpenGL error issues and filed a new issue for this: #165 I am not exactly sure if this is the issue or not related but the end result is the same error as yours.

[apandy02]

@RobRoyce Turning on vis led to OpenGL errors, which were resolved by switching from uv to conda for package management. Would be interested in understanding why, but for now I'm all set!

[duburcqa]

Fixed by https://github.com/Genesis-Embodied-AI/Genesis/pull/777 (and probably https://github.com/Genesis-Embodied-AI/Genesis/pull/782)