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google-deepmind / dm_control

Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.
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NSInternalInconsistencyException When Using mjpython With composer.Environment on M1 Macbook #493

Open RaedShabbir opened 2 months ago

RaedShabbir commented 2 months ago

Hello,

In order to use mujoco.passive_viewer on my m1 macbook I have to use mjpython command to launch it.

But when I try to create an environment as follows 

    env = composer.Environment(task=task, time_limit=time_limit, **env_kwargs)

Launching this with mjpython results in the following error 

2024-09-14 14:15:19.365 mjpython[93348:387515] *** Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'NSWindow drag regions should only be invalidated on the Main Thread!'
*** First throw call stack:
(
    0   CoreFoundation                      0x00000001bfead198 __exceptionPreprocess + 240
    1   libobjc.A.dylib                     0x00000001bfbf7e04 objc_exception_throw + 60
    2   CoreFoundation                      0x00000001bfed8118 _CFBundleGetValueForInfoKey + 0
    3   AppKit                              0x00000001c29baba0 -[NSWindow(NSWindow_Theme) _postWindowNeedsToResetDragMarginsUnlessPostingDisabled] + 372
    4   AppKit                              0x00000001c29a5b9c -[NSWindow _initContent:styleMask:backing:defer:contentView:] + 948
    5   AppKit                              0x00000001c29a57dc -[NSWindow initWithContentRect:styleMask:backing:defer:] + 56
    6   libglfw.3.dylib                     0x00000001052ad710 _glfwPlatformCreateWindow + 336
    7   libglfw.3.dylib                     0x00000001052a7bc8 glfwCreateWindow + 332
    8   libffi.8.dylib                      0x000000010499004c ffi_call_SYSV + 76
    9   libffi.8.dylib                      0x000000010498d74c ffi_call_int + 1208
    10  _ctypes.cpython-310-darwin.so       0x0000000104970a1c _ctypes_callproc + 1260
    11  _ctypes.cpython-310-darwin.so       0x000000010496acfc PyCFuncPtr_call + 1132
    12  python3.10                          0x0000000104e4b59c _PyObject_MakeTpCall + 612
    13  python3.10                          0x0000000104f3d5d8 call_function + 676
    14  python3.10                          0x0000000104f38e60 _PyEval_EvalFrameDefault + 24940
    15  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    16  python3.10                          0x0000000104f3d540 call_function + 524
    17  python3.10                          0x0000000104f39430 _PyEval_EvalFrameDefault + 26428
    18  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    19  python3.10                          0x0000000104e4edc0 method_vectorcall + 520
    20  python3.10                          0x0000000104f39658 _PyEval_EvalFrameDefault + 26980
    21  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    22  python3.10                          0x0000000104f3d540 call_function + 524
    23  python3.10                          0x0000000104f38e38 _PyEval_EvalFrameDefault + 24900
    24  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    25  python3.10                          0x0000000104e4ec64 method_vectorcall + 172
    26  python3.10                          0x0000000104f3d540 call_function + 524
    27  python3.10                          0x0000000104f38e60 _PyEval_EvalFrameDefault + 24940
    28  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    29  python3.10                          0x0000000104e4b7ac _PyObject_FastCallDictTstate + 156
    30  python3.10                          0x0000000104e4c454 _PyObject_Call_Prepend + 176
    31  python3.10                          0x0000000104ec3394 slot_tp_init + 116
    32  python3.10                          0x0000000104ebbd64 type_call + 456
    33  python3.10                          0x0000000104e4b59c _PyObject_MakeTpCall + 612
    34  python3.10                          0x0000000104f3d5d8 call_function + 676
    35  python3.10                          0x0000000104f39430 _PyEval_EvalFrameDefault + 26428
    36  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    37  python3.10                          0x0000000104f3d540 call_function + 524
    38  python3.10                          0x0000000104f38e38 _PyEval_EvalFrameDefault + 24900
    39  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    40  python3.10                          0x0000000104e57f80 property_descr_get + 128
    41  python3.10                          0x0000000104ea4a74 _PyObject_GenericGetAttrWithDict + 208
    42  python3.10                          0x0000000104ea548c PyObject_GetAttr + 96
    43  python3.10                          0x0000000104f3754c _PyEval_EvalFrameDefault + 18520
    44  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    45  python3.10                          0x0000000104e4b7ac _PyObject_FastCallDictTstate + 156
    46  python3.10                          0x0000000104e4c454 _PyObject_Call_Prepend + 176
    47  python3.10                          0x0000000104ec3394 slot_tp_init + 116
    48  python3.10                          0x0000000104ebbd64 type_call + 456
    49  python3.10                          0x0000000104e4b59c _PyObject_MakeTpCall + 612
    50  python3.10                          0x0000000104f3d5d8 call_function + 676
    51  python3.10                          0x0000000104f39430 _PyEval_EvalFrameDefault + 26428
    52  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    53  python3.10                          0x0000000104e4ec64 method_vectorcall + 172
    54  python3.10                          0x0000000104f3d540 call_function + 524
    55  python3.10                          0x0000000104f39430 _PyEval_EvalFrameDefault + 26428
    56  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    57  python3.10                          0x0000000104f3d540 call_function + 524
    58  python3.10                          0x0000000104f38e60 _PyEval_EvalFrameDefault + 24940
    59  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    60  python3.10                          0x0000000104f3d540 call_function + 524
    61  python3.10                          0x0000000104f38e38 _PyEval_EvalFrameDefault + 24900
    62  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    63  python3.10                          0x0000000104f3d540 call_function + 524
    64  python3.10                          0x0000000104f38e38 _PyEval_EvalFrameDefault + 24900
    65  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    66  python3.10                          0x0000000104e4ec64 method_vectorcall + 172
    67  python3.10                          0x0000000104f3d540 call_function + 524
    68  python3.10                          0x0000000104f39430 _PyEval_EvalFrameDefault + 26428
    69  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    70  python3.10                          0x0000000104e4b7ac _PyObject_FastCallDictTstate + 156
    71  python3.10                          0x0000000104e4c454 _PyObject_Call_Prepend + 176
    72  python3.10                          0x0000000104ec3394 slot_tp_init + 116
    73  python3.10                          0x0000000104ebbd64 type_call + 456
    74  python3.10                          0x0000000104e4bfb0 _PyObject_Call + 148
    75  python3.10                          0x0000000104f39658 _PyEval_EvalFrameDefault + 26980
    76  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    77  python3.10                          0x0000000104f3d540 call_function + 524
    78  python3.10                          0x0000000104f39430 _PyEval_EvalFrameDefault + 26428
    79  python3.10                          0x0000000104f32364 _PyEval_Vector + 2036
    80  python3.10                          0x0000000104f8d398 run_mod + 216
    81  python3.10                          0x0000000104f8ce38 _PyRun_SimpleFileObject + 1260
    82  python3.10                          0x0000000104f8be1c _PyRun_AnyFileObject + 240
    83  python3.10                          0x0000000104fb08f8 Py_RunMain + 2340
    84  mjpython                            0x000000010479e940 _ZN12_GLOBAL__N_115mjpython_pymainEPv + 160
    85  libsystem_pthread.dylib             0x00000001bfd6026c _pthread_start + 148
    86  libsystem_pthread.dylib             0x00000001bfd5b08c thread_start + 8
)
libc++abi: terminating with uncaught exception of type NSException
[1]    93348 abort      mjpython

This only occurs when using mjpython, a requirement for my script, where I use the passive viewer to view and interact with the environment. 


with mujoco.viewer.launch_passive(
            self._env.physics.model.ptr, self._env.physics.data.ptr, show_right_ui=False
        ) as viewer:
            while viewer.is_running():
                if self._reset_step:
                    ts = self._env.reset()
                    self._reset_step = False

                step_start = time.time()

                ts = self._env.step(self._joint_cmd)
                self._joint_state = ts.observation["joint_positions"]
                ... 

Would appreciate any workarounds or advice!
RaedShabbir commented 2 months ago

Specifically this seems to occur in dm_control/composer/observation/updater.py 

    for enabled in self._enabled_list:
      first_delay = _call_if_callable(enabled.delay)
      enabled.buffer.insert(
          0, first_delay,
          enabled.observation_callable())

When we call enabled.observation_callable() for the following enabled

enabled
<dm_control.composer.observation.updater._EnabledObservable object at 0x13fabbf40>
function variables
buffer =
<dm_control.composer.observation.obs_buffer.Buffer object at 0x14912cc70>
buffer_size =
1
delay =
0
observable =
**<dm_control.composer.observation.observable.base.MujocoCamera object at 0x1481a5690>**
update_interval =
1
update_schedule =
deque([])
_bind_attribute_from_observable =
<bound method _EnabledObservable._bind_attribute_from_observable of <dm_control.composer.observation.updater._EnabledObservable object at 0x13fabbf40>>