Add support for Viewer and headless rendering on windows #83

DearVa · 2024-12-19T17:16:05Z

This PR initially fixes issue #12. Further tests should be investigated.

genesis/ext/pyrender/numba_gl_wrapper.py

agenel · 2024-12-19T17:50:07Z

I got a numba typeerror. find the output below.

OpenGL.lazywrapper.lazy( 'glGetUniformLocation' )
[Genesis] [18:46:38] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [18:46:38] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [18:46:38] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [18:46:38] [INFO] Running on [NVIDIA GeForce GTX 1650 Ti] with backend gs.cuda. Device memory: 4.00 GB.
[Genesis] [18:46:39] [DEBUG] [Taichi] version 1.7.2, llvm 15.0.1, commit 0131dce9, win, python 3.10.4
[Genesis] [18:46:39] [DEBUG] [Taichi] Starting on arch=cuda
[Genesis] [18:46:39] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [18:46:40] [INFO] Scene <753239f> created.
[Genesis] [18:46:40] [INFO] Adding <gs.PBD3DEntity>. idx: 0, uid: <9c1086f>, morph: <gs.morphs.Mesh(file='C:\Python310\lib\site-packages\genesis\assets\meshes/dragon/dragon.obj')>, material: <gs.PBD.Elastic>.
[Genesis] [18:46:40] [DEBUG] Remeshed file (`.rm`) found in cache.
[Genesis] [18:46:41] [INFO] Building scene <753239f>...
[Genesis] [18:46:43] [INFO] Compiling simulation kernels...
[Genesis] [18:46:50] [INFO] Building visualizer...
Traceback (most recent call last):
  File "E:\GenesisTest\gen.py", line 65, in <module>
    main()
  File "E:\GenesisTest\gen.py", line 56, in main
    scene.build()
  File "C:\Python310\lib\site-packages\genesis\utils\misc.py", line 38, in wrapper
    return method(self, *args, **kwargs)
  File "C:\Python310\lib\site-packages\genesis\engine\scene.py", line 556, in build
    self._visualizer.build()
  File "C:\Python310\lib\site-packages\genesis\vis\visualizer.py", line 101, in build
    self._context.build(self._scene)
  File "C:\Python310\lib\site-packages\genesis\vis\rasterizer_context.py", line 70, in build
    self.jit = JITRenderer(self._scene, [], [])
  File "C:\Python310\lib\site-packages\genesis\ext\pyrender\jit_render.py", line 201, in __init__
    self.gen_func_ptr()
  File "C:\Python310\lib\site-packages\genesis\ext\pyrender\jit_render.py", line 384, in gen_func_ptr
    def forward_pass(
  File "C:\Python310\lib\site-packages\numba\core\decorators.py", line 232, in wrapper
    disp.compile(sig)
  File "C:\Python310\lib\site-packages\numba\core\dispatcher.py", line 905, in compile
    cres = self._compiler.compile(args, return_type)
  File "C:\Python310\lib\site-packages\numba\core\dispatcher.py", line 84, in compile
    raise retval
  File "C:\Python310\lib\site-packages\numba\core\dispatcher.py", line 94, in _compile_cached
    retval = self._compile_core(args, return_type)
  File "C:\Python310\lib\site-packages\numba\core\dispatcher.py", line 107, in _compile_core
    cres = compiler.compile_extra(self.targetdescr.typing_context,
  File "C:\Python310\lib\site-packages\numba\core\compiler.py", line 744, in compile_extra
    return pipeline.compile_extra(func)
  File "C:\Python310\lib\site-packages\numba\core\compiler.py", line 438, in compile_extra
    return self._compile_bytecode()
  File "C:\Python310\lib\site-packages\numba\core\compiler.py", line 506, in _compile_bytecode
    return self._compile_core()
  File "C:\Python310\lib\site-packages\numba\core\compiler.py", line 485, in _compile_core
    raise e
  File "C:\Python310\lib\site-packages\numba\core\compiler.py", line 472, in _compile_core
    pm.run(self.state)
  File "C:\Python310\lib\site-packages\numba\core\compiler_machinery.py", line 368, in run
    raise patched_exception
  File "C:\Python310\lib\site-packages\numba\core\compiler_machinery.py", line 356, in run
    self._runPass(idx, pass_inst, state)
  File "C:\Python310\lib\site-packages\numba\core\compiler_lock.py", line 35, in _acquire_compile_lock
    return func(*args, **kwargs)
  File "C:\Python310\lib\site-packages\numba\core\compiler_machinery.py", line 311, in _runPass
    mutated |= check(pss.run_pass, internal_state)
  File "C:\Python310\lib\site-packages\numba\core\compiler_machinery.py", line 273, in check
    mangled = func(compiler_state)
  File "C:\Python310\lib\site-packages\numba\core\typed_passes.py", line 112, in run_pass
    typemap, return_type, calltypes, errs = type_inference_stage(
  File "C:\Python310\lib\site-packages\numba\core\typed_passes.py", line 93, in type_inference_stage
    errs = infer.propagate(raise_errors=raise_errors)
  File "C:\Python310\lib\site-packages\numba\core\typeinfer.py", line 1091, in propagate
    raise errors[0]
numba.core.errors.TypingError: Failed in nopython mode pipeline (step: nopython frontend)
Unknown attribute 'glUseProgram' of type GLFunc

File "C:\Python310\lib\site-packages\genesis\ext\pyrender\jit_render.py", line 420:
        def forward_pass(
            <source elided>
                if pid != last_pid:
                    gl.glUseProgram(pid)
                    ^

During: typing of get attribute at C:\Python310\lib\site-packages\genesis\ext\pyrender\jit_render.py (420)

File "C:\Python310\lib\site-packages\genesis\ext\pyrender\jit_render.py", line 420:
        def forward_pass(
            <source elided>
                if pid != last_pid:
                    gl.glUseProgram(pid)
                    ^

[Genesis] [18:47:04] [INFO] 💤 Exiting Genesis and caching compiled kernels...

lixiaoming0017 · 2024-12-20T02:56:04Z

This PR initially fixes issue #12. Further tests should be investigated.

Thank you for your reply,but when i modify the code,the other question come. the code below call cam.render(),
for i in range(110):
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=60)

#cam.render() will call render_offscreen function in viewer.py

#wait_for_offscreen
self._offscreen_result_semaphore.acquire()

this part will block the thread,how can i fix it

guanjunwu · 2024-12-20T06:39:24Z

(som) PS E:\code\Genesis_windows> python .\run.py
[Genesis] [14:34:16] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [14:34:16] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [14:34:16] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [14:34:16] [INFO] Running on [NVIDIA GeForce RTX 3080 Laptop GPU] with backend gs.cuda. Device memory: 16.00 GB.
[Genesis] [14:34:16] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [14:34:17] [INFO] Scene <b6b2153> created.
[Genesis] [14:34:17] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <4f28967>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [14:34:17] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <75175ca>, morph: <gs.morphs.MJCF(file='E:\code\Genesis_windows\genesis\assets\xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>.
[Genesis] [14:34:17] [INFO] Building scene <b6b2153>...
[Genesis] [14:34:41] [INFO] Compiling simulation kernels...
[Genesis] [14:35:07] [INFO] Building visualizer...
Traceback (most recent call last):
  File "E:\code\Genesis_windows\genesis\ext\pyrender\numba_gl_wrapper.py", line 71, in load_func
    func_ptr = GL.platform.ctypesloader.buildFunction(
  File "E:\Anaconda\envs\som\lib\site-packages\OpenGL\platform\ctypesloader.py", line 96, in buildFunction
    return functionType( (name, dll), )
AttributeError: function 'glGetUniformLocation' not found

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "E:\code\Genesis_windows\run.py", line 40, in <module>
    scene.build()
  File "E:\code\Genesis_windows\genesis\utils\misc.py", line 38, in wrapper
    return method(self, *args, **kwargs)
  File "E:\code\Genesis_windows\genesis\engine\scene.py", line 565, in build
    self._visualizer.build()
  File "E:\code\Genesis_windows\genesis\vis\visualizer.py", line 101, in build
    self._context.build(self._scene)
  File "E:\code\Genesis_windows\genesis\vis\rasterizer_context.py", line 70, in build
    self.jit = JITRenderer(self._scene, [], [])
  File "E:\code\Genesis_windows\genesis\ext\pyrender\jit_render.py", line 201, in __init__
    self.gen_func_ptr()
  File "E:\code\Genesis_windows\genesis\ext\pyrender\jit_render.py", line 354, in gen_func_ptr
    self.gl = GLWrapper()
  File "E:\code\Genesis_windows\genesis\ext\pyrender\numba_gl_wrapper.py", line 41, in __init__
    load_func("glGetUniformLocation", GLint, GLuint, GLvoidp)
  File "E:\code\Genesis_windows\genesis\ext\pyrender\numba_gl_wrapper.py", line 78, in load_func
    func_ptr = glplatform.createExtensionFunction(
NameError: name 'glplatform' is not defined. Did you mean: 'GLplatform'?
[Genesis] [14:35:09] [INFO] 💤 Exiting Genesis and caching compiled kernels...

Thanks authors for the quick correction! the typo is solved.

guanjunwu · 2024-12-20T08:34:13Z

(som) PS E:\code\Genesis_windows> python .\run.py
[Genesis] [16:29:11] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [16:29:11] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [16:29:11] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [16:29:11] [INFO] Running on [NVIDIA GeForce RTX 3080 Laptop GPU] with backend gs.cuda. Device memory: 16.00 GB.
[Genesis] [16:29:11] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.0, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [16:29:12] [INFO] Scene <480ae95> created.
[Genesis] [16:29:12] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <1d12ad9>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [16:29:12] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <0328e4b>, morph: <gs.morphs.MJCF(file='E:\code\Genesis_windows\genesis\assets\xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>.
[Genesis] [16:29:12] [INFO] Building scene <480ae95>...
[Genesis] [16:29:31] [INFO] Compiling simulation kernels...
[Genesis] [16:29:55] [INFO] Building visualizer...
[Genesis] [16:29:58] [INFO] Viewer created. Resolution: 1280×960, max_FPS: 60.
0
[Genesis] [16:29:58] [INFO] Running at 120.79 FPS.

Hi, I found that my program will stuck at here, and no viewer displayed. I cannot even kill the script. Why?

CaesarAaron · 2024-12-20T08:54:37Z

Thanks, My program is running normally, but no window pops up.

Sipovec · 2024-12-20T09:20:44Z

Windows 11 Pro for Workstation
Python 3.12.7

I do:

python -m venv venv
venv\Scripts\activate.bat
pip install genesis-world
pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu124
pip instal ffmpeg

(and edited the files to implement this PR)

Then I run a basic script: https://genesis-world.readthedocs.io/en/latest/user_guide/getting_started/hello_genesis.html

venv\Scripts\activate.bat
python test.py

The simulation works, but does not show the viewer window.

What am I doing wrong?

fix issue Genesis-Embodied-AI#12

204d082

agenel reviewed Dec 19, 2024

View reviewed changes

genesis/ext/pyrender/numba_gl_wrapper.py Outdated Show resolved Hide resolved

fix typo

3993e67

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Add support for Viewer and headless rendering on windows #83

Add support for Viewer and headless rendering on windows #83

DearVa commented Dec 19, 2024

agenel commented Dec 19, 2024

lixiaoming0017 commented Dec 20, 2024 •

edited

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guanjunwu commented Dec 20, 2024 •

edited

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guanjunwu commented Dec 20, 2024

CaesarAaron commented Dec 20, 2024

Sipovec commented Dec 20, 2024 •

edited

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Add support for Viewer and headless rendering on windows #83

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Add support for Viewer and headless rendering on windows #83

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DearVa commented Dec 19, 2024

agenel commented Dec 19, 2024

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guanjunwu commented Dec 20, 2024

CaesarAaron commented Dec 20, 2024

Sipovec commented Dec 20, 2024 • edited Loading

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guanjunwu commented Dec 20, 2024 •

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Sipovec commented Dec 20, 2024 •

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