Please share the versions of GPU, PyTorch, CUDA, Python, and Linux.

[Logic-TARS]

Please share the versions of GPU, PyTorch, CUDA, Python, and Linux that allow you to run Genesis properly, so I can use them as a reference.

[Habatakurikei]

Hi, I have just resolved my case.

My environment:

• Mac Studio
• Python 3.10.16 (Anaconda/conda 24.7.1)
• Sequoia 15.2
• M2 Ultra
• torch 2.5.1

Commands: conda create --name genesis python=3.10 -y conda activate genesis python -m pip install genesis-world python -m pip install torch torchvision torchaudio python render_on_macos.py -v

Hope if it helps your case. Thanks.

[Xu-Xuanhui]

Intel 14700, NVIDIA 4070, Ubuntu 22.04 , NVIDIA535, CUDA 12.2 python 3.10 torch 2.2 It is easy to install genesis. The default version of PyOpenGL is 3.1.7, but it will encounter errors during runtime. I found that version 3.1.4 of PyOpenGL can be used. As the user guider reporting, if you followed 2.A and see “GLIBCXX_3.4.30 not found”. cd ~/anaconda3/envs/genesis/lib mv libstdc++.so.6 libstdc++.so.6.old ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6

However, LuisaRender has strict requirements for Ubuntu and CUDA versions.

[DuinoDu]

Hi, I have just resolved my case.

My environment:

• Mac Studio
• Python 3.10.16 (Anaconda/conda 24.7.1)
• Sequoia 15.2
• M2 Ultra
• torch 2.5.1

Commands: conda create --name genesis python=3.10 -y conda activate genesis python -m pip install genesis-world python -m pip install torch torchvision torchaudio python render_on_macos.py -v

Hope if it helps your case. Thanks.

@Habatakurikei Hi, just curious about genesis on mac. Do you meet OpenGL.error.GLError (https://github.com/Genesis-Embodied-AI/Genesis/issues/165) when executing python render_on_macos.py -v?

OpenGL.error.GLError: GLError(
	err = 1282,
	description = b'invalid operation',
	baseOperation = glBindFramebuffer,
	cArguments = (GL_DRAW_FRAMEBUFFER, 0)

[Habatakurikei]

Hi, I have just resolved my case. My environment:

• Mac Studio
• Python 3.10.16 (Anaconda/conda 24.7.1)
• Sequoia 15.2
• M2 Ultra
• torch 2.5.1

Commands: conda create --name genesis python=3.10 -y conda activate genesis python -m pip install genesis-world python -m pip install torch torchvision torchaudio python render_on_macos.py -v Hope if it helps your case. Thanks.

@Habatakurikei Hi, just curious about genesis on mac. Do you meet OpenGL.error.GLError (#165) when executing python render_on_macos.py -v?

OpenGL.error.GLError: GLError(
	err = 1282,
	description = b'invalid operation',
	baseOperation = glBindFramebuffer,
	cArguments = (GL_DRAW_FRAMEBUFFER, 0)

No, I did not face any error including GLError through that setup. I attach a video how python render_on_macos.py -v worked on my Mac studio.

https://github.com/user-attachments/assets/0f762550-09a6-434b-9f02-823385aa0fb2

[oscar-lima]

• GPU: Quadro RTX 4000
• PyTorch version: 2.5.1+cu121
• CUDA Version: 12.2
• Python version: 3.10.9 (via pyenv)
• Linux: Ubuntu 20.04

~Does not work for me: LuisaRenderPy~ Update: now LuisaRender works as well, but was very hard to install !

[analogjedi]

Hi, I have just resolved my case.

My environment:

• Mac Studio
• Python 3.10.16 (Anaconda/conda 24.7.1)
• Sequoia 15.2
• M2 Ultra
• torch 2.5.1

Commands: conda create --name genesis python=3.10 -y conda activate genesis python -m pip install genesis-world python -m pip install torch torchvision torchaudio python render_on_macos.py -v

Hope if it helps your case. Thanks.

@Habatakurikei , thank you for posting this! I have been struggling to make any progress with a Python virtual environment (tried both Python 12 and 11). I did not try Python 10 in the venv so I am not sure if that was the reason..... but I did use your recipe with Miniconda on my Mac M3 and it finally worked! :-)

[bradmcgo]

Environment Details

Operating System

• Ubuntu 22.04

Python Environment (inside of a Conda environment)

• Python 3.9
• PyTorch 2.5.1

GPU Setup

• CUDA 12.2
• NVIDIA Driver 535
• Hardware: RTX 3080Ti

Nvidia driver/CUDA Installation Steps

CUDA Installation

• Removed everything Nvidia from my system (somewhat recklessly): sudo apt-get remove --purge '^nvidia-.' sudo apt autoremove sudo apt autoclean sudo rm -rf /usr/local/cuda sudo rm -rf /lib/modprobe.d/nvidia-installer-* sudo rm -rf /etc/modprobe.d/nvidia-installer-* sudo rm -rf /usr/lib/modprobe.d/nvidia-installer-* Reboot

• Used CUDA 12.2.2 runfile installer from NVIDIA Developer site (Ignore existing driver warning. Select 'Continue', uncheck the Driver in the installer and only install CUDA, CUDA Demo Suite, and CUDA Documentation): https://developer.nvidia.com/cuda-12-2-2-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=runfile_local

• Target: Ubuntu 22.04, x86_64

NVIDIA Driver Installation

• Installed via ubuntu-drivers: https://ubuntu.com/server/docs/nvidia-drivers-installation
• Command: sudo ubuntu-drivers install nvidia:535

✅ Confirmed working with LuisaRender

[NicholasZiglio]

OS

Ubuntu 24.04

GPU

RTX 2070 (laptop) NVIDIA-SMI 550.120 Driver Version: 550.120 CUDA Version: 12.4

Python

Anaconda: 24.9.2

curl -O https://repo.anaconda.com/archive/Anaconda3-2024.10-1-Linux-x86_64.sh
bash ~/Anaconda3-2024.10-1-Linux-x86_64.sh

python 3.9

conda create --name genesis_env python=3.9
conda activate genesis_env

Pytorch

Installed Pytorch 2.5.1 in my conda genesis_env with python=3.9 conda install pytorch torchvision torchaudio pytorch-cuda=12.4 -c pytorch -c nvidia

Genesis

Installed AFTER pytorch in my conda genesis_env with python=3.9 pip install genesis-world

Fix pyglet.gl.ContextException: Could not create GL context

When running:

import genesis as gs
gs.init(backend=gs.cpu)

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

scene.build()

for i in range(1000):
    scene.step()

Was getting this error:

(genesis_env) nicholas@nicholas-laptop:~/robotics/genesis$ python init.py [Genesis] [11:13:26] [INFO] ╭───────────────────────────────────────────────────────────────╮ [Genesis] [11:13:26] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│ [Genesis] [11:13:26] [INFO] ╰───────────────────────────────────────────────────────────────╯ [Genesis] [11:13:26] [INFO] Running on [Intel(R) Core(TM) i7-9750H CPU @ 2.60GHz] with backend gs.cpu. Device memory: 31.20 GB. [Genesis] [11:13:26] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'. [Genesis] [11:13:26] [INFO] Scene created. [Genesis] [11:13:26] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <3a69964>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>. [Genesis] [11:13:26] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: , morph: <gs.morphs.MJCF(file='/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/assets/xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>. [Genesis] [11:13:27] [INFO] Building scene ... [Genesis] [11:13:32] [INFO] Compiling simulation kernels... [Genesis] [11:13:39] [INFO] Building visualizer... MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) failed to load driver: iris MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) failed to load driver: iris MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) Exception in thread Thread-2: Traceback (most recent call last): File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/threading.py", line 980, in _bootstrap_inner self.run() File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/threading.py", line 917, in run self._target(*self._args, **self._kwargs) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/ext/pyrender/viewer.py", line 1126, in _init_and_start_app super(Viewer, self).init( File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/pyglet/window/xlib/init.py", line 168, in init super().init(*args, **kwargs) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/pyglet/window/init.py", line 527, in init context = config.create_context(gl.current_context) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/pyglet/gl/xlib.py", line 114, in create_context return XlibContext(self, share) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/pyglet/gl/xlib.py", line 149, in init raise gl.ContextException(msg) pyglet.gl.ContextException: Could not create GL context MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) failed to load driver: iris MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) failed to load driver: iris MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) ^C ^CTraceback (most recent call last): File "/home/nicholas/robotics/genesis/init.py", line 13, in scene.build() File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/utils/misc.py", line 38, in wrapper return method(self, *args, **kwargs) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/engine/scene.py", line 556, in build self._visualizer.build() File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/vis/visualizer.py", line 104, in build self._viewer.build(self._scene) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/vis/viewer.py", line 69, in build self._pyrender_viewer = pyrender.Viewer( File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/site-packages/genesis/ext/pyrender/viewer.py", line 379, in init self._initialized_event.wait() File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/threading.py", line 581, in wait signaled = self._cond.wait(timeout) File "/home/nicholas/anaconda3/envs/genesis_env/lib/python3.9/threading.py", line 312, in wait waiter.acquire() KeyboardInterrupt [Genesis] [11:22:17] [INFO] 💤 Exiting Genesis and caching compiled kernels...

First I checked I had mesa-utils installed (which I didn't) with the following: glxinfo | grep "OpenGL"

To install:

sudo apt update
sudo apt install mesa-utils

Then I replaced the libstdc++.so.6 in my anaconda env with a symlink to my system's (thanks chatgpt):

mv $CONDA_PREFIX/lib/libstdc++.so.6 $CONDA_PREFIX/lib/libstdc++.so.6.bak
ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 $CONDA_PREFIX/lib/libstdc++.so.6

Finally add this before importing genesis in the python file being executed.

import os
os.environ['PYOPENGL_PLATFORM'] = 'glx'

[Luckykantnayak]

For me sudo apt-get install mesa-utils and conda install -c conda-forge libstdcxx-ng within the virtual environment worked.

[ph3rro]

Is Nvidia Driver 550 fine for Ubuntu 22.04?

[ph3rro]

When I run the demo wtih

Ubuntu 22.04 Pytorch 2.5.1 Driver 535 CUDA 12.2 RTX 4070 Ti

it is very laggy at 0.70 FPS. I also got a lot of warnings when compiling with cmake with stuff like "warning: unused import: crate::*