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To disable rendering during replay on Windows #674

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SkyRainWind opened this issue Nov 1, 2024 · 5 comments
Closed

To disable rendering during replay on Windows #674

SkyRainWind opened this issue Nov 1, 2024 · 5 comments

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@SkyRainWind
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Hello, thanks for your brilliant work!

After I grabbed raw datasets, I have troubles transfering trajectories to other control mode(say, I would like to use python -m mani_skill2.trajectory.replay_trajectory --traj-path demos/v0/rigid_body/PickCube-v0/trajectory.h5 --save-traj --target-control-mode pd_ee_delta_pose --obs-mode rgbd command to obtain a new trajectory called trajectory.rgbd.pd_ee_delta_pose.h5).

I use windows connecting to remote server and I disabled x11 forwarding. Is it possible to disable rendering when replaying trajectories?

Compilation information are listed below.

$ python -m mani_skill2.trajectory.replay_trajectory --traj-path demos/v0/rigid_body/PickCube-v0/trajectory.h5 --save-traj --target-control-mode pd_ee_delta_pose

0step [00:00, ?step/s][2024-11-01 21:53:44.939] [svulkan2] [error] GLFW error: X11: The DISPLAY environment variable is missing

[2024-11-01 21:53:44.939] [svulkan2] [warning] Continue without GLFW.

Traceback (most recent call last):
  File "<frozen runpy>", line 198, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/trajectory/replay_trajectory.py", line 530, in <module>
    main(parse_args())
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/trajectory/replay_trajectory.py", line 524, in main
    _main(args)
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/trajectory/replay_trajectory.py", line 350, in _main
    ori_env = gym.make(env_id, **ori_env_kwargs)
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 802, in make
    env = env_creator(**env_spec_kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/utils/registration.py", line 92, in make
    env = env_spec.make(**kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/utils/registration.py", line 34, in make
    return self.cls(**_kwargs)
           ^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/envs/pick_and_place/pick_cube.py", line 22, in __init__
    super().__init__(*args, **kwargs)
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/envs/pick_and_place/base_env.py", line 27, in __init__
    super().__init__(*args, **kwargs)
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/envs/sapien_env.py", line 107, in __init__
    self._renderer = sapien.SapienRenderer(**renderer_kwargs)
                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: Cannot find a suitable rendering device
@StoneT2000
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Is this on docker? Did you check vulkan is installed correctly following our troubleshooting guide: https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html#troubleshooting

I also recommend upgrading to ManiSkill 3 instead, we have the same PickCube demonstrations as before.

@SkyRainWind
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Thanks for your timely reply! I use vscode terminal directly without docker, and the problem remains after I checked troubleshooting. The detailed outputs of vulkaninfo are listed below.

Click to toggle contents of `vulkaninfo` 
$ vulkaninfo
'DISPLAY' environment variable not set... skipping surface info
error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
WARNING: lavapipe is not a conformant vulkan implementation, testing use only.
==========
VULKANINFO
==========

Vulkan Instance Version: 1.2.131


Instance Extensions: count = 18
====================
        VK_EXT_acquire_xlib_display            : extension revision 1
        VK_EXT_debug_report                    : extension revision 10
        VK_EXT_debug_utils                     : extension revision 1
        VK_EXT_direct_mode_display             : extension revision 1
        VK_EXT_display_surface_counter         : extension revision 1
        VK_KHR_device_group_creation           : extension revision 1
        VK_KHR_display                         : extension revision 23
        VK_KHR_external_fence_capabilities     : extension revision 1
        VK_KHR_external_memory_capabilities    : extension revision 1
        VK_KHR_external_semaphore_capabilities : extension revision 1
        VK_KHR_get_display_properties2         : extension revision 1
        VK_KHR_get_physical_device_properties2 : extension revision 2
        VK_KHR_get_surface_capabilities2       : extension revision 1
        VK_KHR_surface                         : extension revision 25
        VK_KHR_surface_protected_capabilities  : extension revision 1
        VK_KHR_wayland_surface                 : extension revision 6
        VK_KHR_xcb_surface                     : extension revision 6
        VK_KHR_xlib_surface                    : extension revision 6

Layers: count = 3
=======
VK_LAYER_LUNARG_standard_validation (LunarG Standard Validation Layer) Vulkan version 1.0.131, layer version 1:
        Layer Extensions: count = 0
        Devices: count = 1
                GPU id  : 0 (llvmpipe (LLVM 12.0.0, 256 bits))
                Layer-Device Extensions: count = 0

VK_LAYER_MESA_device_select (Linux device selection layer) Vulkan version 1.2.73, layer version 1:
        Layer Extensions: count = 0
        Devices: count = 1
                GPU id  : 0 (llvmpipe (LLVM 12.0.0, 256 bits))
                Layer-Device Extensions: count = 0

VK_LAYER_MESA_overlay (Mesa Overlay layer) Vulkan version 1.1.73, layer version 1:
        Layer Extensions: count = 0
        Devices: count = 1
                GPU id  : 0 (llvmpipe (LLVM 12.0.0, 256 bits))
                Layer-Device Extensions: count = 0

Presentable Surfaces:
=====================

error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
error: XDG_RUNTIME_DIR not set in the environment.
Groups:
=======
        Device Group Properties (Group 0):
                physicalDeviceCount: count = 1
                        llvmpipe (LLVM 12.0.0, 256 bits) (ID: 0)
                subsetAllocation = 0

        Device Group Present Capabilities (Group 0):
WARNING: lavapipe is not a conformant vulkan implementation, testing use only.
                llvmpipe (LLVM 12.0.0, 256 bits) (ID: 0)
                Can present images from the following devices:
                        llvmpipe (LLVM 12.0.0, 256 bits) (ID: 0)
                Present modes:
                        DEVICE_GROUP_PRESENT_MODE_LOCAL_BIT_KHR


Device Properties and Extensions:
=================================
GPU0:
VkPhysicalDeviceProperties:
---------------------------
        apiVersion     = 4198582 (1.1.182)
        driverVersion  = 1 (0x0001)
        vendorID       = 0x10005
        deviceID       = 0x0000
        deviceType     = PHYSICAL_DEVICE_TYPE_CPU
        deviceName     = llvmpipe (LLVM 12.0.0, 256 bits)

VkPhysicalDeviceLimits:
-----------------------
        maxImageDimension1D                             = 16384
        maxImageDimension2D                             = 16384
        maxImageDimension3D                             = 4096
        maxImageDimensionCube                           = 32768
        maxImageArrayLayers                             = 2048
        maxTexelBufferElements                          = 134217728
        maxUniformBufferRange                           = 65536
        maxStorageBufferRange                           = 134217728
        maxPushConstantsSize                            = 128
        maxMemoryAllocationCount                        = 4294967295
        maxSamplerAllocationCount                       = 32768
        bufferImageGranularity                          = 0x00000040
        sparseAddressSpaceSize                          = 0x00000000
        maxBoundDescriptorSets                          = 8
        maxPerStageDescriptorSamplers                   = 32
        maxPerStageDescriptorUniformBuffers             = 15
        maxPerStageDescriptorStorageBuffers             = 16
        maxPerStageDescriptorSampledImages              = 128
        maxPerStageDescriptorStorageImages              = 16
        maxPerStageDescriptorInputAttachments           = 8
        maxPerStageResources                            = 128
        maxDescriptorSetSamplers                        = 32768
        maxDescriptorSetUniformBuffers                  = 256
        maxDescriptorSetUniformBuffersDynamic           = 256
        maxDescriptorSetStorageBuffers                  = 256
        maxDescriptorSetStorageBuffersDynamic           = 256
        maxDescriptorSetSampledImages                   = 256
        maxDescriptorSetStorageImages                   = 256
        maxDescriptorSetInputAttachments                = 256
        maxVertexInputAttributes                        = 32
        maxVertexInputBindings                          = 32
        maxVertexInputAttributeOffset                   = 2047
        maxVertexInputBindingStride                     = 2048
        maxVertexOutputComponents                       = 128
        maxTessellationGenerationLevel                  = 64
        maxTessellationPatchSize                        = 32
        maxTessellationControlPerVertexInputComponents  = 128
        maxTessellationControlPerVertexOutputComponents = 128
        maxTessellationControlPerPatchOutputComponents  = 128
        maxTessellationControlTotalOutputComponents     = 4096
        maxTessellationEvaluationInputComponents        = 128
        maxTessellationEvaluationOutputComponents       = 128
        maxGeometryShaderInvocations                    = 32
        maxGeometryInputComponents                      = 64
        maxGeometryOutputComponents                     = 128
        maxGeometryOutputVertices                       = 1024
        maxGeometryTotalOutputComponents                = 1024
        maxFragmentInputComponents                      = 128
        maxFragmentOutputAttachments                    = 8
        maxFragmentDualSrcAttachments                   = 2
        maxFragmentCombinedOutputResources              = 8
        maxComputeSharedMemorySize                      = 32768
        maxComputeWorkGroupCount: count = 3
                65535
                65535
                65535
        maxComputeWorkGroupInvocations                  = 1024
        maxComputeWorkGroupSize: count = 3
                1024
                1024
                1024
        subPixelPrecisionBits                           = 8
        subTexelPrecisionBits                           = 8
        mipmapPrecisionBits                             = 8
        maxDrawIndexedIndexValue                        = 4294967295
        maxDrawIndirectCount                            = 4294967295
        maxSamplerLodBias                               = 16
        maxSamplerAnisotropy                            = 16
        maxViewports                                    = 16
        maxViewportDimensions: count = 2
                16384
                16384
        viewportBoundsRange: count = 2
                -32768
                32768
        viewportSubPixelBits                            = 0
        minMemoryMapAlignment                           = 64
        minTexelBufferOffsetAlignment                   = 0x00000010
        minUniformBufferOffsetAlignment                 = 0x00000010
        minStorageBufferOffsetAlignment                 = 0x00000010
        minTexelOffset                                  = -32
        maxTexelOffset                                  = 31
        minTexelGatherOffset                            = -32
        maxTexelGatherOffset                            = 31
        minInterpolationOffset                          = -2
        maxInterpolationOffset                          = 2
        subPixelInterpolationOffsetBits                 = 8
        maxFramebufferWidth                             = 16384
        maxFramebufferHeight                            = 16384
        maxFramebufferLayers                            = 2048
        framebufferColorSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        framebufferDepthSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        framebufferStencilSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        framebufferNoAttachmentsSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        maxColorAttachments                             = 8
        sampledImageColorSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        sampledImageIntegerSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        sampledImageDepthSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        sampledImageStencilSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        storageImageSampleCounts:
                SAMPLE_COUNT_1_BIT
                SAMPLE_COUNT_4_BIT
        maxSampleMaskWords                              = 1
        timestampComputeAndGraphics                     = true
        timestampPeriod                                 = 1
        maxClipDistances                                = 8
        maxCullDistances                                = 8
        maxCombinedClipAndCullDistances                 = 8
        discreteQueuePriorities                         = 2
        pointSizeRange: count = 2
                0
                255
        lineWidthRange: count = 2
                1
                255
        pointSizeGranularity                            = 0.125
        lineWidthGranularity                            = 0.0078125
        strictLines                                     = true
        standardSampleLocations                         = true
        optimalBufferCopyOffsetAlignment                = 0x00000080
        optimalBufferCopyRowPitchAlignment              = 0x00000080
        nonCoherentAtomSize                             = 0x00000040

VkPhysicalDeviceSparseProperties:
---------------------------------
        residencyStandard2DBlockShape            = false
        residencyStandard2DMultisampleBlockShape = false
        residencyStandard3DBlockShape            = false
        residencyAlignedMipSize                  = false
        residencyNonResidentStrict               = false

VkPhysicalDeviceDriverPropertiesKHR:
------------------------------------
        driverID           = UNKNOWN_VkDriverId
        driverName         = llvmpipe
        driverInfo         = Mesa 21.2.6 (LLVM 12.0.0)
        conformanceVersion = 1.0.0.0

VkPhysicalDeviceIDProperties:
-----------------------------
        deviceUUID      = 00000000-0000-0000-0000-000000000000
        driverUUID      = 00000000-0000-0000-0000-000000000000
        deviceNodeMask  = 0
        deviceLUIDValid = false

VkPhysicalDeviceLineRasterizationPropertiesEXT:
-----------------------------------------------
        lineSubPixelPrecisionBits = 8

VkPhysicalDeviceMaintenance3Properties:
---------------------------------------
        maxPerSetDescriptors    = 1024
        maxMemoryAllocationSize = 0x80000000

VkPhysicalDeviceMultiviewProperties:
------------------------------------
        maxMultiviewViewCount     = 6
        maxMultiviewInstanceIndex = 2147483647

VkPhysicalDevicePointClippingProperties:
----------------------------------------
        pointClippingBehavior = POINT_CLIPPING_BEHAVIOR_ALL_CLIP_PLANES

VkPhysicalDeviceProtectedMemoryProperties:
------------------------------------------
        protectedNoFault = false

VkPhysicalDevicePushDescriptorPropertiesKHR:
--------------------------------------------
        maxPushDescriptors = 32

VkPhysicalDeviceSamplerFilterMinmaxPropertiesEXT:
-------------------------------------------------
        filterMinmaxSingleComponentFormats = true
        filterMinmaxImageComponentMapping  = true

VkPhysicalDeviceSubgroupProperties:
-----------------------------------
        subgroupSize              = 8
        supportedStages:
                SHADER_STAGE_FRAGMENT_BIT
                SHADER_STAGE_COMPUTE_BIT
                SHADER_STAGE_ALL_GRAPHICS
                SHADER_STAGE_ALL
        supportedOperations:
                SUBGROUP_FEATURE_BASIC_BIT
                SUBGROUP_FEATURE_VOTE_BIT
                SUBGROUP_FEATURE_ARITHMETIC_BIT
                SUBGROUP_FEATURE_BALLOT_BIT
        quadOperationsInAllStages = false

VkPhysicalDeviceTransformFeedbackPropertiesEXT:
-----------------------------------------------
        maxTransformFeedbackStreams                = 4
        maxTransformFeedbackBuffers                = 4
        maxTransformFeedbackBufferSize             = 0xffffffff
        maxTransformFeedbackStreamDataSize         = 512
        maxTransformFeedbackBufferDataSize         = 512
        maxTransformFeedbackBufferDataStride       = 512
        transformFeedbackQueries                   = true
        transformFeedbackStreamsLinesTriangles     = false
        transformFeedbackRasterizationStreamSelect = false
        transformFeedbackDraw                      = true

VkPhysicalDeviceVertexAttributeDivisorPropertiesEXT:
----------------------------------------------------
        maxVertexAttribDivisor = 4294967295


Device Extensions: count = 54
------------------
        VK_EXT_calibrated_timestamps          : extension revision 2
        VK_EXT_conditional_rendering          : extension revision 2
        VK_EXT_custom_border_color            : extension revision 12
        VK_EXT_extended_dynamic_state         : extension revision 1
        VK_EXT_extended_dynamic_state2        : extension revision 1
        VK_EXT_host_query_reset               : extension revision 1
        VK_EXT_index_type_uint8               : extension revision 1
        VK_EXT_line_rasterization             : extension revision 1
        VK_EXT_multi_draw                     : extension revision 1
        VK_EXT_post_depth_coverage            : extension revision 1
        VK_EXT_private_data                   : extension revision 1
        VK_EXT_provoking_vertex               : extension revision 1
        VK_EXT_sampler_filter_minmax          : extension revision 2
        VK_EXT_scalar_block_layout            : extension revision 1
        VK_EXT_separate_stencil_usage         : extension revision 1
        VK_EXT_shader_stencil_export          : extension revision 1
        VK_EXT_shader_viewport_index_layer    : extension revision 1
        VK_EXT_transform_feedback             : extension revision 1
        VK_EXT_vertex_attribute_divisor       : extension revision 3
        VK_EXT_vertex_input_dynamic_state     : extension revision 2
        VK_GOOGLE_decorate_string             : extension revision 1
        VK_GOOGLE_hlsl_functionality1         : extension revision 1
        VK_KHR_16bit_storage                  : extension revision 1
        VK_KHR_8bit_storage                   : extension revision 1
        VK_KHR_bind_memory2                   : extension revision 1
        VK_KHR_buffer_device_address          : extension revision 1
        VK_KHR_copy_commands2                 : extension revision 1
        VK_KHR_create_renderpass2             : extension revision 1
        VK_KHR_dedicated_allocation           : extension revision 3
        VK_KHR_descriptor_update_template     : extension revision 1
        VK_KHR_device_group                   : extension revision 4
        VK_KHR_draw_indirect_count            : extension revision 1
        VK_KHR_driver_properties              : extension revision 1
        VK_KHR_external_fence                 : extension revision 1
        VK_KHR_external_memory                : extension revision 1
        VK_KHR_external_semaphore             : extension revision 1
        VK_KHR_get_memory_requirements2       : extension revision 1
        VK_KHR_image_format_list              : extension revision 1
        VK_KHR_imageless_framebuffer          : extension revision 1
        VK_KHR_incremental_present            : extension revision 2
        VK_KHR_maintenance1                   : extension revision 2
        VK_KHR_maintenance2                   : extension revision 1
        VK_KHR_maintenance3                   : extension revision 1
        VK_KHR_multiview                      : extension revision 1
        VK_KHR_push_descriptor                : extension revision 2
        VK_KHR_relaxed_block_layout           : extension revision 1
        VK_KHR_sampler_mirror_clamp_to_edge   : extension revision 3
        VK_KHR_separate_depth_stencil_layouts : extension revision 1
        VK_KHR_shader_atomic_int64            : extension revision 1
        VK_KHR_shader_draw_parameters         : extension revision 1
        VK_KHR_storage_buffer_storage_class   : extension revision 1
        VK_KHR_swapchain                      : extension revision 70
        VK_KHR_uniform_buffer_standard_layout : extension revision 1
        VK_KHR_variable_pointers              : extension revision 1

VkQueueFamilyProperties:
========================
        queueProperties[0]:
        ------------------
                minImageTransferGranularity = (1,1,1)
                queueCount                  = 1
                queueFlags                  = QUEUE_GRAPHICS | QUEUE_COMPUTE | QUEUE_TRANSFER
                timestampValidBits          = 64
                present support = false

VkPhysicalDeviceMemoryProperties:
=================================
memoryHeaps: count = 1
        memoryHeaps[0]:
                size   = 2147483648 (0x80000000) (2.00 GiB)
                budget = 0
                usage  = 0
                flags:
                        MEMORY_HEAP_DEVICE_LOCAL_BIT
memoryTypes: count = 1
        memoryTypes[0]:
                heapIndex     = 0
                propertyFlags = 0x000f:
                        MEMORY_PROPERTY_DEVICE_LOCAL_BIT
                        MEMORY_PROPERTY_HOST_VISIBLE_BIT
                        MEMORY_PROPERTY_HOST_COHERENT_BIT
                        MEMORY_PROPERTY_HOST_CACHED_BIT
                usable for:
                        IMAGE_TILING_OPTIMAL: color images, FORMAT_D16_UNORM, FORMAT_X8_D24_UNORM_PACK32, FORMAT_D32_SFLOAT, FORMAT_S8_UINT, FORMAT_D24_UNORM_S8_UINT, FORMAT_D32_SFLOAT_S8_UINT
                        IMAGE_TILING_LINEAR: color images

VkPhysicalDeviceFeatures:
=========================
        robustBufferAccess                      = true
        fullDrawIndexUint32                     = true
        imageCubeArray                          = true
        independentBlend                        = true
        geometryShader                          = true
        tessellationShader                      = true
        sampleRateShading                       = true
        dualSrcBlend                            = true
        logicOp                                 = true
        multiDrawIndirect                       = true
        drawIndirectFirstInstance               = true
        depthClamp                              = true
        depthBiasClamp                          = true
        fillModeNonSolid                        = true
        depthBounds                             = false
        wideLines                               = true
        largePoints                             = true
        alphaToOne                              = true
        multiViewport                           = true
        samplerAnisotropy                       = false
        textureCompressionETC2                  = false
        textureCompressionASTC_LDR              = false
        textureCompressionBC                    = true
        occlusionQueryPrecise                   = true
        pipelineStatisticsQuery                 = true
        vertexPipelineStoresAndAtomics          = true
        fragmentStoresAndAtomics                = true
        shaderTessellationAndGeometryPointSize  = true
        shaderImageGatherExtended               = true
        shaderStorageImageExtendedFormats       = true
        shaderStorageImageMultisample           = true
        shaderStorageImageReadWithoutFormat     = false
        shaderStorageImageWriteWithoutFormat    = true
        shaderUniformBufferArrayDynamicIndexing = false
        shaderSampledImageArrayDynamicIndexing  = false
        shaderStorageBufferArrayDynamicIndexing = false
        shaderStorageImageArrayDynamicIndexing  = false
        shaderClipDistance                      = true
        shaderCullDistance                      = true
        shaderFloat64                           = true
        shaderInt64                             = true
        shaderInt16                             = true
        shaderResourceResidency                 = false
        shaderResourceMinLod                    = false
        sparseBinding                           = false
        sparseResidencyBuffer                   = false
        sparseResidencyImage2D                  = false
        sparseResidencyImage3D                  = false
        sparseResidency2Samples                 = false
        sparseResidency4Samples                 = false
        sparseResidency8Samples                 = false
        sparseResidency16Samples                = false
        sparseResidencyAliased                  = false
        variableMultisampleRate                 = false
        inheritedQueries                        = false

VkPhysicalDevice16BitStorageFeatures:
-------------------------------------
        storageBuffer16BitAccess           = true
        uniformAndStorageBuffer16BitAccess = true
        storagePushConstant16              = true
        storageInputOutput16               = false

VkPhysicalDevice8BitStorageFeaturesKHR:
---------------------------------------
        storageBuffer8BitAccess           = true
        uniformAndStorageBuffer8BitAccess = true
        storagePushConstant8              = true

VkPhysicalDeviceBufferDeviceAddressFeaturesKHR:
-----------------------------------------------
        bufferDeviceAddress              = true
        bufferDeviceAddressCaptureReplay = false
        bufferDeviceAddressMultiDevice   = false

VkPhysicalDeviceConditionalRenderingFeaturesEXT:
------------------------------------------------
        conditionalRendering          = true
        inheritedConditionalRendering = false

VkPhysicalDeviceHostQueryResetFeaturesEXT:
------------------------------------------
        hostQueryReset = true

VkPhysicalDeviceImagelessFramebufferFeaturesKHR:
------------------------------------------------
        imagelessFramebuffer = true

VkPhysicalDeviceIndexTypeUint8FeaturesEXT:
------------------------------------------
        indexTypeUint8 = true

VkPhysicalDeviceLineRasterizationFeaturesEXT:
---------------------------------------------
        rectangularLines         = true
        bresenhamLines           = true
        smoothLines              = true
        stippledRectangularLines = true
        stippledBresenhamLines   = true
        stippledSmoothLines      = true

VkPhysicalDeviceMultiviewFeatures:
----------------------------------
        multiview                   = true
        multiviewGeometryShader     = true
        multiviewTessellationShader = true

VkPhysicalDeviceProtectedMemoryFeatures:
----------------------------------------
        protectedMemory = false

VkPhysicalDeviceSamplerYcbcrConversionFeatures:
-----------------------------------------------
        samplerYcbcrConversion = false

VkPhysicalDeviceScalarBlockLayoutFeaturesEXT:
---------------------------------------------
        scalarBlockLayout = true

VkPhysicalDeviceSeparateDepthStencilLayoutsFeaturesKHR:
-------------------------------------------------------
        separateDepthStencilLayouts = true

VkPhysicalDeviceShaderAtomicInt64FeaturesKHR:
---------------------------------------------
        shaderBufferInt64Atomics = true
        shaderSharedInt64Atomics = true

VkPhysicalDeviceShaderDrawParametersFeatures:
---------------------------------------------
        shaderDrawParameters = true

VkPhysicalDeviceTransformFeedbackFeaturesEXT:
---------------------------------------------
        transformFeedback = true
        geometryStreams   = true

VkPhysicalDeviceUniformBufferStandardLayoutFeaturesKHR:
-------------------------------------------------------
        uniformBufferStandardLayout = true

VkPhysicalDeviceVariablePointersFeatures:
-----------------------------------------
        variablePointersStorageBuffer = true
        variablePointers              = false

VkPhysicalDeviceVertexAttributeDivisorFeaturesEXT:
--------------------------------------------------
        vertexAttributeInstanceRateDivisor     = true
        vertexAttributeInstanceRateZeroDivisor = false

I would like to try Maniskill 3. However, the paper i follow currently uses Maniskill 2, so i've kept the compatibility.

@StoneT2000
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Can you test running python -m sapien.example.offscreen

@SkyRainWind
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SkyRainWind commented Nov 8, 2024 •
edited
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Can you test running python -m sapien.example.offscreen

Thanks for your reply! I walk through install workflow and troubleshooting again and I refer to some related issues and the results are listed below.

The result of python -m sapien.example.offscreen:

1 
/home/tyf/anaconda3/envs/pcm/lib/python3.11/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work.
  warn(
Traceback (most recent call last):
  File "<frozen runpy>", line 198, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "/home/tyf/anaconda3/envs/pcm/lib/python3.11/site-packages/sapien/example/offscreen.py", line 37, in <module>
    main()
  File "/home/tyf/anaconda3/envs/pcm/lib/python3.11/site-packages/sapien/example/offscreen.py", line 9, in main
    scene = sapien.Scene()
            ^^^^^^^^^^^^^^
  File "/home/tyf/anaconda3/envs/pcm/lib/python3.11/site-packages/sapien/wrapper/scene.py", line 25, in __init__
    [sapien.physx.PhysxCpuSystem(), sapien.render.RenderSystem()]
                                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: invalid PCI string
Segmentation fault (core dumped)

The results of sapien info --all:

2 
Traceback (most recent call last):
  File "/home/tyf/anaconda3/envs/pcm/bin/sapien", line 58, in <module>
    info += sapien.render.get_device_summary() + "\n"
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: invalid PCI string

The results of

>>> import sapien.core as sapien
>>> sapien.SapienRenderer(offscreen_only=True, device="cuda:0")
3 
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/tyf/anaconda3/envs/pcm/lib/python3.11/site-packages/sapien/wrapper/renderer.py", line 9, in __init__
    super().__init__()
RuntimeError: invalid PCI string

Last but not least, I use windows and a remote server to do everything. Maybe it is better for ubuntu?

@StoneT2000
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You will want to use ubuntu whenever possible. It is the best supported platform.

We have limited support for running sapien/maniskill on windows systems. It can work but when it doesn't, usually it means something is wrong with the nvidia driver installation.

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