Freeze after execute cv2.imshow()

[Sologala]

Why did the cv2.imshow() freeze the command line progress?

Reproduce code:

gs.init(backend=gs.cpu, logging_level="DEBUG")
scene = gs.Scene(
    sim_options=gs.options.SimOptions(
        dt=0.01,
        gravity=(0, 0, -9.81),
    ),
    viewer_options=gs.options.ViewerOptions(
        camera_pos=(5.0, -5.0, 5.0),
        camera_lookat=(0.0, 0.0, 0.0),
        camera_fov=90,
        max_FPS=15,
    ),
    vis_options=gs.options.VisOptions(
        show_world_frame=True,
    ),
    show_viewer=True,
    show_FPS=True,
)

scene.add_entity(gs.morphs.Plane())
camera = scene.add_camera(
    pos=(3.0, 0.0, 2.0),
    lookat=(0.0, 0.0, 0.0),
    up=(0, 0, 1),
    res=(416, 416),
    fov=90,
    GUI=False,
    near=0.1,
    far=1e10,
)

scene.build()

while True:
    scene.step()
    camera.render()

    print("enter cv2.imshow()")
    tmp_img = np.zeros((100, 100, 3), dtype=np.uint8)
    cv2.imshow("img", tmp_img) # got frozen 
    print("exit cv2.imshow()")
    cv2.waitKey(1)

The script above only print this

enter cv2.imshow()

And here is the debug LOG

(genesis) ➜  Genesis git:(heads/v0.3.13) ✗ python ./test.py
[Genesis] [14:33:26] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [14:33:26] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [14:33:26] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [14:33:27] [INFO] Running on [13th Gen Intel(R) Core(TM) i7-13700KF] with backend gs.cpu. Device memory: 62.63 GB.
[Genesis] [14:33:27] [DEBUG] [GsTaichi] version 4.6.0, llvm 20.1.0, commit 72f02b06, linux, python 3.12.12
[Genesis] [14:33:27] [DEBUG] [GsTaichi] Starting on arch=x64
[Genesis] [14:33:27] [DEBUG] [GsTaichi] Enabling pure kernels for fast cache mode.
[Genesis] [14:33:27] [DEBUG] [GsTaichi] Enabling GsTaichi dynamic array type to avoid scene-specific compilation.
[Genesis] [14:33:27] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.13, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: DEBUG
[Genesis] [14:33:28] [WARNING] Scene.show_FPS is deprecated. Please use Scene.profiling_options.show_FPS
[Genesis] [14:33:28] [INFO] Scene <0d5787d> created.
[Genesis] [14:33:28] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <34f87e1>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [14:33:28] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 0.
[Genesis] [14:33:28] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <7f72836>, morph: <gs.morphs.Mesh(file='/home/insta360/ws/Genesis/genesis/assets/meshes/boat/boat.obj')>, material: <gs.materials.Rigid>.
[Genesis] [14:33:29] [INFO] Convex hull is not accurate enough for collision detection (2.895). Falling back to more expensive convex decomposition (see FileMorph options).
[Genesis] [14:33:29] [DEBUG] Convex decomposition file (.cvx) found in cache.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 1.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 2.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 3.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 4.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 5.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 6.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 7.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 8.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 9.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 10.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 11.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 12.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 13.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 14.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 15.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 16.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 17.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 18.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 19.
[Genesis] [14:33:29] [INFO] Adding <gs.DroneEntity>. idx: 2, uid: <c670f6b>, morph: <gs.morphs.Drone(file='/home/insta360/ws/Genesis/genesis/assets/urdf/drones/cf2x.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [14:33:29] [WARNING] Some free joint has non-zero frictionloss, damping or armature parameters. Beware it is non-physical.
[Genesis] [14:33:29] [DEBUG] Applying offset to base link's pose with user provided value in morph.
[Genesis] [14:33:29] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 20.
[Genesis] [14:33:29] [INFO] Building scene <0d5787d>...
[Genesis] [14:33:29] [DEBUG] Materializing kernel ext_arr_to_ndarray_matrix_c20_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [WARNING] Link 'prop0_link' has dubious mass 0.000 compared to the estimate from geometry 0.000 given material density 200.
[Genesis] [14:33:29] [WARNING] Link 'prop1_link' has dubious mass 0.000 compared to the estimate from geometry 0.000 given material density 200.
[Genesis] [14:33:29] [WARNING] Link 'prop2_link' has dubious mass 0.000 compared to the estimate from geometry 0.000 given material density 200.
[Genesis] [14:33:29] [WARNING] Link 'prop3_link' has dubious mass 0.000 compared to the estimate from geometry 0.000 given material density 200.
[Genesis] [14:33:29] [DEBUG] Materializing kernel fill_ndarray_c2_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel ext_arr_to_ndarray_c18_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel ndarray_matrix_to_ext_arr_c10_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_dof_fields_c218_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_vert_fields_c226_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_vvert_fields_c228_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Constraint solver time constant not specified. Using default value (`0.02`).
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_geom_fields_c230_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_vgeom_fields_c234_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_link_fields_c220_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Constraint solver time constant not specified. Using default value (`0.02`).
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_joint_fields_c224_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel kernel_init_entity_fields_c236_0 in AutodiffMode.NONE...
[Genesis] [14:33:29] [DEBUG] Materializing kernel sdf_kernel_init_geom_fields_c142_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_forward_kinematics_links_geoms_c254_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_compute_mass_matrix_c282_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_init_invweight_c214_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_init_meaninertia_c216_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_update_geoms_c264_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_update_verts_for_geoms_c266_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_ndarray_c18_1 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_ndarray_c18_2 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ndarray_to_ext_arr_c8_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel _kernel_init_support_c144_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_collider_clear_c152_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_matrix_c24_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_matrix_c24_1 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_matrix_c24_2 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_matrix_c24_3 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel ext_arr_to_matrix_c24_4 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_get_state_c292_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [INFO] Compiling simulation kernels...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_step_1_c380_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel add_equality_constraints_c198_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel kernel_update_geom_aabbs_c270_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel func_broad_phase_c148_0 in AutodiffMode.NONE...
[Genesis] [14:33:30] [DEBUG] Materializing kernel func_narrow_phase_convex_vs_convex_c158_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel add_inequality_constraints_c200_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel func_solve_init_c206_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel func_solve_body_c208_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel func_update_qacc_c212_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel func_update_contact_force_c210_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel kernel_step_2_c382_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel kernel_set_state_c294_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel constraint_solver_kernel_clear_c196_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [INFO] Building visualizer...
[Genesis] [14:33:31] [DEBUG] Materializing kernel kernel_update_geoms_render_T_c244_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel kernel_update_vgeoms_c272_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel kernel_update_drone_propeller_vgeoms_c360_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Materializing kernel kernel_update_vgeoms_render_T_c246_0 in AutodiffMode.NONE...
[Genesis] [14:33:31] [DEBUG] Trying to create OpenGL Context for PYOPENGL_PLATFORM='native'...
[Genesis] [14:33:32] [INFO] Viewer created. Resolution: 720×540, max_FPS: 15.
[Genesis] [14:33:32] [DEBUG] Using interactive viewer OpenGL device: NVIDIA GeForce RTX 4060/PCIe/SSE2

[Genesis] [14:33:32] [DEBUG] Materializing kernel kernel_forward_velocity_c258_0 in AutodiffMode.NONE...
[Genesis] [14:33:32] [DEBUG] Materializing kernel kernel_set_links_pos_c298_0 in AutodiffMode.NONE...
[Genesis] [14:33:32] [DEBUG] Materializing kernel kernel_set_links_quat_c302_0 in AutodiffMode.NONE...

enter cv2.imshow()

But the matplotlib is fine to visualize the image.

[duburcqa]

It works just fine on my machine without freezing, but I'm working on MacOS. Could you try to specify this option?

        viewer_options=gs.options.ViewerOptions(
            [...],
            run_in_thread=False,
        ),