Crash of candlewick-visualizer and Metal assertion on macOS (Apple M4)

[oomcth]

Environment

• Device: MacBook Pro (M4)
• OS: macOS Sequoia (15.7.2)
• Python: 3.12.12 (conda-forge)
• CMake build: réussi

(candle) *[main][~/Desktop/candlewick/build]$ cmake ..
CMake Warning (dev) at cmake/release.cmake:138:
  Syntax Warning in cmake code at column 47

  Argument not separated from preceding token by whitespace.
Call Stack (most recent call first):
  cmake/base.cmake:173 (include)
  CMakeLists.txt:35 (include)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at cmake/release.cmake:160:
  Syntax Warning in cmake code at column 53

  Argument not separated from preceding token by whitespace.
Call Stack (most recent call first):
  cmake/base.cmake:173 (include)
  CMakeLists.txt:35 (include)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at cmake/release.cmake:177:
  Syntax Warning in cmake code at column 63

  Argument not separated from preceding token by whitespace.
Call Stack (most recent call first):
  cmake/base.cmake:173 (include)
  CMakeLists.txt:35 (include)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Configuring "candlewick" (https://github.com/Simple-Robotics/candlewick)
-- Package version (git describe): 0.10.0-7-gb71d6
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
-- Failed to find Doxygen, documentation will not be generated.
-- coal FOUND. coal at /Users/mathisscheffler/miniconda3/envs/candle/lib/libcoal.dylib
-- Default C++ standard: 202002
-- C++ standard sufficient: Minimal required 14, currently defined: 20
-- Looking for FFmpeg with components avformat avcodec swscale avutil
--   - found component avformat
--   - found component avcodec
--   - found component swscale
--   - found component avutil
-- FFmpeg version header is at /Users/mathisscheffler/miniconda3/envs/candle/include/libavutil/ffversion.h
-- pinocchio_default FOUND. pinocchio_default at /Users/mathisscheffler/miniconda3/envs/candle/lib/libpinocchio_default.dylib
-- pinocchio_parsers FOUND. pinocchio_parsers at /Users/mathisscheffler/miniconda3/envs/candle/lib/libpinocchio_parsers.dylib
-- pinocchio_casadi FOUND. pinocchio_casadi at /Users/mathisscheffler/miniconda3/envs/candle/lib/libpinocchio_casadi.dylib
-- pinocchio_extra FOUND. pinocchio_extra at /Users/mathisscheffler/miniconda3/envs/candle/lib/libpinocchio_extra.dylib
-- qhullcpp FOUND. qhullcpp at /opt/homebrew/lib/libqhullcpp.a
-- Looking for sdformat14 -- found version 14.8.0
-- Searching for dependencies of sdformat14
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 11.0.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Looking for gz-math7 -- found version 7.5.2
-- Searching for dependencies of gz-math7
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for dependencies of gz-utils2
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for dependencies of gz-utils2
-- Searching for <gz-utils2> component [cli]
-- Looking for gz-utils2-cli -- found version 2.2.1
-- Searching for dependencies of gz-utils2-cli
CMake Warning at /Users/mathisscheffler/miniconda3/envs/candle/lib/cmake/hpp-fcl/hpp-fclConfig.cmake:3 (message):
  Please update your CMake from 'hpp-fcl' to 'coal'
Call Stack (most recent call first):
  /Users/mathisscheffler/miniconda3/envs/candle/share/cmake-4.2/Modules/CMakeFindDependencyMacro.cmake:93 (find_package)
  /Users/mathisscheffler/miniconda3/envs/candle/share/cmake-4.2/Modules/CMakeFindDependencyMacro.cmake:125 (__find_dependency_common)
  /Users/mathisscheffler/miniconda3/envs/candle/lib/cmake/pinocchio/pinocchioConfig.cmake:167 (find_dependency)
  cmake/package-config.cmake:114 (find_package)
  CMakeLists.txt:112 (ADD_PROJECT_DEPENDENCY)


-- C++ standard sufficient: Minimal required 14, currently defined: 20
-- Shader install dir: /Users/mathisscheffler/miniconda3/envs/candle/share/candlewick/shaders
-- FFmpeg found (version 8.0.1).
-- Candlewick will be built with FFmpeg support.
-- eigenpy FOUND. eigenpy at /Users/mathisscheffler/miniconda3/envs/candle/lib/libeigenpy.dylib
-- Checking for NumPy
--   NUMPY_INCLUDE_DIRS=/Users/mathisscheffler/miniconda3/envs/candle/lib/python3.12/site-packages/numpy/_core/include
--   NUMPY_VERSION=2.3.5
-- PythonLibraryDirs: 
-- PythonLibVersionString: 3.12.12
-- Python site lib: lib/python3.12/site-packages
-- Python include dirs: /Users/mathisscheffler/miniconda3/envs/candle/include/python3.12
-- Checking for NumPy
--   NUMPY_INCLUDE_DIRS=/Users/mathisscheffler/miniconda3/envs/candle/lib/python3.12/site-packages/numpy/_core/include
--   NUMPY_VERSION=2.3.5
-- NumPy include dir: /Users/mathisscheffler/miniconda3/envs/candle/lib/python3.12/site-packages/numpy/_core/include
-- C++ standard sufficient: Minimal required 14, currently defined: 20
-- Create files for AMENT (ROS 2)
-- Configuring done (1.3s)
-- Generating done (0.1s)
-- Build files have been written to: /Users/mathisscheffler/Desktop/candlewick/build

• Dépendances: installées selon le README

Étapes de reproduction

1. Lancement du visualiseur

Lancer le visualiseur dans un premier terminal :

candlewick-visualizer --help

Sortie obtenue :

[15:56:48] [info] ZMQ endpoint (setup): tcp://127.0.0.1:12000
[15:56:48] [info] ZMQ endpoint (state): tcp://127.0.0.1:12002

Problème : Aucune fenêtre n'apparaît.

2. Exécution de l'exemple

Lancer l'exemple dans un second terminal :

python examples/python/ur3_async_runtime.py

Sortie obtenue :

Connected sync socket 3 to tcp://127.0.0.1:12000
Connected state publisher 1 to tcp://127.0.0.1:12002

Crash du visualiseur :

Le processus du visualiseur dans le premier terminal plante avec l'erreur suivante :

libc++abi: terminating due to uncaught exception of type boost::archive::archive_exception: input stream error
[1]    72967 abort      candlewick-visualizer

Test complémentaire

L'exécution d'un visualiseur synchrone simple ne fonctionne pas non plus. Le code suivant ne produit aucun affichage :

import example_robot_data as erd
import pinocchio as pin
from candlewick import Visualizer, VisualizerConfig, create_recorder_context

robot = erd.load("ur10")
model: pin.Model = robot.model
visual_model: pin.GeometryModel = robot.visual_model

config = VisualizerConfig()
config.width = 1280
config.height = 720
viz = Visualizer(config, model, visual_model)

q0 = pin.neutral(model)
viz.addFrameViz(model.getFrameId("tool0"))

with create_recorder_context(viz, "ur10_video.mp4"):
    while not viz.shouldExit:
        viz.display(q0)

Problème : Aucune fenêtre n'apparaît, rien ne se passe et le programme plante avec cette erreur.

-[AGXG16XFamilyCommandBuffer renderCommandEncoderWithDescriptor:]:964: failed assertion `A command encoder is already encoding to this command buffer'
[1]    73060 abort      python

[oomcth]

I tested this on another macbook pro (mac book pro M1) and had the same issue.

[oomcth]

I used Candlewick a few months ago and it worked well.

[oomcth]

I've fixed the issue for the synchronous experiment and will provide a PR soon.

I'm still working on the asynchronous issue.