Genesis
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Genesis-Embodied-AI
An err occured running code in doc Hello Genesis
Hello,I got an error while running the code under:
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='/home/nvidia/Genesis/genesis/assets/xml/franka_emika_panda/panda.xml'), )
scene.build()
for i in range(1000): scene.step()
the path is correct,but I got the err:
after this error occured,I fixed up an error for my openGL:https://stackoverflow.com/questions/72110384/libgl-error-mesa-loader-failed-to-open-iris
I run the code : conda install -c conda-forge libstdcxx-ng
in my virtual conda environment,and replay the python demo,then got the err:
[Genesis] [16:37:16] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [16:37:16] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [16:37:16] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [16:37:16] [INFO] Running on [13th Gen Intel(R) Core(TM) i7-13700H] with backend gs.cpu. Device memory: 62.46 GB.
[Genesis] [16:37:16] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [16:37:16] [INFO] Scene <1313ad1> created.
[Genesis] [16:37:16] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <146f4e4>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [16:37:16] [INFO] Adding <gs.RigidEntity>. idx: 1, uid:
As suggested in /issues/10 Please give it a try:
PYOPENGL_PLATFORM=osmesa python try.py
As suggested in /issues/10 Please give it a try:
PYOPENGL_PLATFORM=osmesa python try.py
thanks a lot! by using it,I got another err:
Traceback (most recent call last):
File "/home/nvidia/Genesis/genesis/assets/try.py", line 7, in <module>
scene = gs.Scene(show_viewer=False)
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/utils/misc.py", line 27, in new_init
original_init(self, *args, **kwargs)
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/engine/scene.py", line 148, in __init__
self._visualizer = Visualizer(
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/visualizer.py", line 26, in __init__
self._context = RasterizerContext(vis_options)
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/rasterizer_context.py", line 37, in __init__
self.init_meshes()
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/rasterizer_context.py", line 52, in init_meshes
self.link_frame_mesh = trimesh.creation.axis(origin_size=0.03, axis_radius=0.025, axis_length=1.0)
NameError: name 'trimesh' is not defined
As suggested in /issues/10 Please give it a try:
PYOPENGL_PLATFORM=osmesa python try.pythanks a lot! by using it,I got another err: Traceback (most recent call last): File "/home/nvidia/Genesis/genesis/assets/try.py", line 7, in scene = gs.Scene(show_viewer=False) File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/utils/misc.py", line 27, in new_init original_init(self, *args, **kwargs) File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/engine/scene.py", line 148, in init self._visualizer = Visualizer( File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/visualizer.py", line 26, in init self._context = RasterizerContext(vis_options) File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/rasterizer_context.py", line 37, in init self.init_meshes() File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/rasterizer_context.py", line 52, in init_meshes self.link_frame_mesh = trimesh.creation.axis(origin_size=0.03, axis_radius=0.025, axis_length=1.0) NameError: name 'trimesh' is not defined and I can find trimesh in my envs path:/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/ext/trimesh
will i trying to remove try ...(import for trimesh) else pass,I got the error:
Traceback (most recent call last):
File "/home/nvidia/Genesis/genesis/assets/try.py", line 1, in <module>
import genesis as gs
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/__init__.py", line 274, in <module>
from .engine.scene import Scene
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/engine/scene.py", line 24, in <module>
from genesis.vis import Visualizer
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/__init__.py", line 1, in <module>
from .visualizer import Visualizer
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/visualizer.py", line 8, in <module>
from .rasterizer_context import RasterizerContext
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/rasterizer_context.py", line 9, in <module>
from genesis.ext import pyrender, trimesh
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/ext/pyrender/__init__.py", line 2, in <module>
from .light import Light, PointLight, DirectionalLight, SpotLight
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/ext/pyrender/light.py", line 11, in <module>
from OpenGL.GL import *
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/GL/__init__.py", line 4, in <module>
from OpenGL.GL.VERSION.GL_1_1 import *
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/GL/VERSION/GL_1_1.py", line 14, in <module>
from OpenGL.raw.GL.VERSION.GL_1_1 import *
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/raw/GL/VERSION/GL_1_1.py", line 7, in <module>
from OpenGL.raw.GL import _errors
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/raw/GL/_errors.py", line 4, in <module>
_error_checker = _ErrorChecker( _p, _p.GL.glGetError )
AttributeError: 'NoneType' object has no attribute 'glGetError'
Same issue for me. Can't get the quick start to launch. I'm on ubuntu 22.04, with python 3.10, and I installed genesis in a poetry environment. Here's my OpenGL version. Maybe a version compatibility problem?
OpenGL version string: 4.6 (Compatibility Profile) Mesa 23.2.1-1ubuntu3.1~22.04.2
I had a similar error to the one in the initial post, and got it to work with
import os
os.environ['PYOPENGL_PLATFORM'] = 'glx' # or try 'glx' if this doesn't work
before
import genesis
I was also getting this issue with python3.11 this fix worked for me
will i trying to remove try ...(import for trimesh) else pass,I got the error: Traceback (most recent call last): File "/home/nvidia/Genesis/genesis/assets/try.py", line 1, in import genesis as gs File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/init.py", line 274, in from .engine.scene import Scene File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/engine/scene.py", line 24, in from genesis.vis import Visualizer File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/init.py", line 1, in from .visualizer import Visualizer File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/visualizer.py", line 8, in from .rasterizer_context import RasterizerContext File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/vis/rasterizer_context.py", line 9, in from genesis.ext import pyrender, trimesh File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/ext/pyrender/init.py", line 2, in from .light import Light, PointLight, DirectionalLight, SpotLight File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/genesis/ext/pyrender/light.py", line 11, in from OpenGL.GL import * File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/GL/init.py", line 4, in from OpenGL.GL.VERSION.GL_1_1 import * File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/GL/VERSION/GL_1_1.py", line 14, in from OpenGL.raw.GL.VERSION.GL_1_1 import * File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/raw/GL/VERSION/GL_1_1.py", line 7, in from OpenGL.raw.GL import _errors File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/OpenGL/raw/GL/_errors.py", line 4, in _error_checker = _ErrorChecker( _p, _p.GL.glGetError ) AttributeError: 'NoneType' object has no attribute 'glGetError'
hi there,finally I solved all bug on my machine: My platform:2000ada,i7,550nvdriver,cuda12.4,torch2.4,py3.10 firstly,you should check i PyopeGL on your machine,if yes upgrade it to the newest version(mine is 3.17.0 though the project req for 3.10) then check for some mesa req: sudo apt-get install libosmesa6-dev sudo apt-get install libgl1-mesa-glx libglu1-mesa sudo apt-get install mesa-utils maybe you should install ffpeg?though it doesnt work for me. may of the bug in it caused by openGL,check the openGL version is helpful,in my device,while using3.10,I got an err: TypeError: unhashable type and 3.17 will not. wish everyone chould solve the bug in it,may we have some err,but the fixing solution wont be the same.
I had a similar error to the one in the initial post, and got it to work with
import os os.environ['PYOPENGL_PLATFORM'] = 'glx' # or try 'glx' if this doesn't workbefore
import genesis
thank you, it works on wsl2 of win11
[Error]: 'NoneType' object has no attribute 'glGetError'
Failed to import pyrender. Rendering will not work.
[Genesis] [19:40:45] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [19:40:45] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [19:40:45] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [19:40:45] [INFO] Running on [NVIDIA H100 80GB HBM3] with backend gs.cuda. Device memory: 79.11 GB.
both
PYOPENGL_PLATFORM=osmesa
and
os.environ['PYOPENGL_PLATFORM'] = 'glx'
is not working for a linux environment, still seek help there, thanks
[Error]: 'NoneType' object has no attribute 'glGetError'
Failed to import pyrender. Rendering will not work. [Genesis] [19:40:45] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮ [Genesis] [19:40:45] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│ [Genesis] [19:40:45] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯ [Genesis] [19:40:45] [INFO] Running on [NVIDIA H100 80GB HBM3] with backend gs.cuda. Device memory: 79.11 GB.
both PYOPENGL_PLATFORM=osmesa and os.environ['PYOPENGL_PLATFORM'] = 'glx'
is not working for a linux environment, still seek help there, thanks
By trying above methods
my trace back is TypeError: 'NoneType' object is not callable
Exception in thread Thread-2 (_init_and_start_app):
Traceback (most recent call last):
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/OpenGL/latebind.py", line 43, in __call__
return self._finalCall( *args, **named )
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
TypeError: 'NoneType' object is not callable
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/threading.py", line 1075, in _bootstrap_inner
self.run()
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/threading.py", line 1012, in run
self._target(*self._args, **self._kwargs)
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/viewer.py", line 1149, in _init_and_start_app
pyglet.clock.tick()
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/pyglet/clock.py", line 528, in tick
return _default.tick(poll)
^^^^^^^^^^^^^^^^^^^
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/pyglet/clock.py", line 270, in tick
self.call_scheduled_functions(delta_t)
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/pyglet/clock.py", line 217, in call_scheduled_functions
item.func(now - item.last_ts, *item.args, **item.kwargs)
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/viewer.py", line 941, in _time_event
self.on_draw()
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/viewer.py", line 640, in on_draw
self._render()
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/viewer.py", line 1086, in _render
retval = renderer.render(self.scene, flags, seg_node_map=seg_node_map)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/renderer.py", line 141, in render
self._update_context(scene, flags)
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/renderer.py", line 916, in _update_context
texture._add_to_context()
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/genesis/ext/pyrender/texture.py", line 219, in _add_to_context
max_aniso = glGetFloat(texture_filter_anisotropic.GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/OpenGL/latebind.py", line 47, in __call__
return self._finalCall( *args, **named )
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/OpenGL/wrapper.py", line 678, in wrapperCall
raise err
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/OpenGL/wrapper.py", line 671, in wrapperCall
result = wrappedOperation( *cArguments )
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/OpenGL/platform/baseplatform.py", line 415, in __call__
return self( *args, **named )
^^^^^^^^^^^^^^^^^^^^^^
File "/home/circlemoon/miniconda3/envs/genesis/lib/python3.12/site-packages/OpenGL/error.py", line 230, in glCheckError
raise self._errorClass(
OpenGL.error.GLError: GLError(
err = 1280,
description = b'invalid enumerant',
baseOperation = glGetFloatv,
pyArgs = (
GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT,
<object object at 0x7fcaeedf01c0>,
),
cArgs = (
GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT,
array([0.], dtype=float32),
),
cArguments = (
GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT,
array([0.], dtype=float32),
)
)
If you have an older OpenGL version (like 3.1), updating OpenGL might solve the error:
sudo add-apt-repository ppa:kisak/kisak-mesa
sudo apt update
sudo apt upgrade
#43 Solved Maybe helpful to you
@AgentOfLyra from your reply (https://github.com/Genesis-Embodied-AI/Genesis/issues/43#issuecomment-2557624624), it looks like you have the same low fps issue (https://github.com/Genesis-Embodied-AI/Genesis/issues/138#issue-2752075095). have you been able to solve it?
#43 Solved Maybe helpful to you
@AgentOfLyra from your reply (#43 (comment)), it looks like you have the same low fps issue (#138 (comment)). have you been able to solve it?
My fps is actually not low and can reach 60 at last(although its response is very laggy), so maybe we are not encountering the same problem? However, I also solved my problem according to the method in #43 try these code
export GALLIUM_DRIVER=d3d12
export MESA_D3D12_DEFAULT_ADAPTER_NAME=NVIDIA # if wanna nvidia gpu
Now it seems perform well.
Did everything here, the program works but around 0.99 to 0.33 FPS on a RTX4070Ti Super, is this normal?
edit: speed_benchmark gives 800 fps
