Running genesis on mac m1 with multiple files

[FRCroboSam]

When running the simulator on my mac, right now I follow a format similar to render_on_macos.py.
https://github.com/Genesis-Embodied-AI/Genesis/blob/main/examples/render_on_macos.py

I was wondering if it was possible to run a demo similar to https://github.com/Genesis-Embodied-AI/Genesis/blob/main/examples/coupling/grasp_soft_cube.py without specifying the same while loop thread as render_on_macos.py on mac.

Right now when I try to run it without the visualizer it appears to run, but if I set scene.viewer.start() after building,

I get this bug

Is the only way to resolve this following a similar format as render_on_macos.py?
I also want to be able to break this program down into multiple files for more complex actions but not sure how to do that with the one loop structure of render_on_macos.py.