[MISC] Enable taichi debug mode in tests if possible.#1541
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duburcqa merged 5 commits intoGenesis-Embodied-AI:mainfrom Aug 15, 2025
Merged
[MISC] Enable taichi debug mode in tests if possible.#1541duburcqa merged 5 commits intoGenesis-Embodied-AI:mainfrom
duburcqa merged 5 commits intoGenesis-Embodied-AI:mainfrom
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YilingQiao
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Aug 12, 2025
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Taichi is crashing: pytest -svn 0 --pdb "tests/test_rigid_physics.py::test_robot_scaling"
============================================================================================================================ test session starts =============================================================================================================================
platform darwin -- Python 3.12.8, pytest-8.3.4, pluggy-1.5.0 -- /Users/XXXXXX/.pyenv/versions/3.12.8/bin/python3.12
cachedir: .pytest_cache
Using --random-order-bucket=global
Using --random-order-seed=0
rootdir: /Users/XXXXXX/workspace/src/genesis
configfile: pyproject.toml
plugins: repeat-0.9.4, syrupy-4.9.1, random-order-1.1.1, retry-1.7.0, print-1.1.0, anyio-4.7.0, cov-6.1.1, forked-1.6.0, dash-2.18.2, xdist-3.6.1
collected 1 item
tests/test_rigid_physics.py::test_robot_scaling [Genesis] [18:03:01] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [18:03:01] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [18:03:01] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [18:03:01] [INFO] Beware running Genesis in debug mode dramatically reduces runtime speed.
[Genesis] [18:03:01] [INFO] Consider setting 'performance_mode=True' in production to maximise runtime speed, if significantly increasing compilation time is not a concern.
[Genesis] [18:03:01] [INFO] Running on [Apple M4 Max] with backend gs.cpu. Device memory: 48.00 GB.
[Genesis] [18:03:01] [DEBUG] [Taichi] version 1.7.3, llvm 15.0.7, commit 5ec301be, osx, python 3.12.8
[Genesis] [18:03:01] [DEBUG] [Taichi] Starting on arch=arm64
[Genesis] [18:03:01] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.0, 🌱 seed: 0, 📏 precision: '64', 🐛 debug: True, 🎨 theme: 'dark'.
[Genesis] [18:03:01] [WARNING] Scene.show_FPS is deprecated. Please use Scene.profiling_options.show_FPS
[Genesis] [18:03:01] [INFO] Scene <fc09e87> created.
[Genesis] [18:03:01] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0d04a83>, morph: <gs.morphs.MJCF(file='/Users/alexis.duburcq/workspace/src/genesis/genesis/assets/xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>.
[Genesis] [18:03:01] [WARNING] (MJCF) Approximating tendon by joint actuator for `finger_joint1`
[Genesis] [18:03:01] [WARNING] (MJCF) Actuator control gain and bias parameters cannot be reduced to a unique PD control position gain. Using max between gain and bias for joint `finger_joint1`.
[Genesis] [18:03:01] [WARNING] (MJCF) Approximating tendon by joint actuator for `finger_joint2`
[Genesis] [18:03:01] [WARNING] (MJCF) Actuator control gain and bias parameters cannot be reduced to a unique PD control position gain. Using max between gain and bias for joint `finger_joint2`.
[Genesis] [18:03:01] [INFO] Applying offset to base link's pose with user provided value in morph.
[Genesis] [18:03:01] [INFO] Preprocessing geom idx 0.
[Genesis] [18:03:02] [INFO] Preprocessing geom idx 1.
[Genesis] [18:03:02] [INFO] Preprocessing geom idx 2.
[Genesis] [18:03:02] [INFO] Preprocessing geom idx 3.
[Genesis] [18:03:02] [INFO] Preprocessing geom idx 4.
[Genesis] [18:03:03] [INFO] Preprocessing geom idx 5.
[Genesis] [18:03:03] [INFO] Preprocessing geom idx 6.
[Genesis] [18:03:03] [INFO] Preprocessing geom idx 7.
[Genesis] [18:03:03] [INFO] Preprocessing geom idx 8.
[Genesis] [18:03:03] [INFO] Preprocessing geom idx 9.
[Genesis] [18:03:03] [INFO] Preprocessing geom idx 10.
[Genesis] [18:03:04] [INFO] Preprocessing geom idx 11.
[Genesis] [18:03:04] [INFO] Preprocessing geom idx 12.
[Genesis] [18:03:04] [INFO] Preprocessing geom idx 13.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 14.
[Genesis] [18:03:04] [INFO] Preprocessing geom idx 15.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 16.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 17.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 18.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 19.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 20.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 21.
[Genesis] [18:03:04] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 22.
[Genesis] [18:03:04] [INFO] Building scene <fc09e87>...
[Genesis] [18:03:05] [DEBUG] Constraint solver time constant not specified. Using default value (`0.02`).
[Genesis] [18:03:05] [DEBUG] Constraint solver time constant not specified. Using default value (`0.02`).
[Genesis] [18:03:05] [WARNING] Reference robot position exceeds joint limits.
[Genesis] [18:03:05] [WARNING] Constraint solver time constant should be greater than 2*substep_dt. timeconst is changed from `0.005` to `0.02`). Decrease simulation timestep or increase timeconst to avoid altering the original value.
[Genesis] [18:03:09] [INFO] Compiling simulation kernels...
[Genesis] [18:03:34] [INFO] Building visualizer...
[Genesis] [18:03:35] [INFO] Scene <2aca826> created.
[Genesis] [18:03:35] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <9bdd48e>, morph: <gs.morphs.MJCF(file='/Users/alexis.duburcq/workspace/src/genesis/genesis/assets/xml/franka_emika_panda/panda.xml')>, material: <gs.materials.Rigid>.
[Genesis] [18:03:35] [WARNING] (MJCF) Approximating tendon by joint actuator for `finger_joint1`
[Genesis] [18:03:35] [WARNING] (MJCF) Actuator control gain and bias parameters cannot be reduced to a unique PD control position gain. Using max between gain and bias for joint `finger_joint1`.
[Genesis] [18:03:35] [WARNING] (MJCF) Approximating tendon by joint actuator for `finger_joint2`
[Genesis] [18:03:35] [WARNING] (MJCF) Actuator control gain and bias parameters cannot be reduced to a unique PD control position gain. Using max between gain and bias for joint `finger_joint2`.
[Genesis] [18:03:35] [INFO] Applying offset to base link's pose with user provided value in morph.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 0.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 1.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 2.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 3.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 4.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 5.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 6.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 7.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 8.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 9.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 10.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 11.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 12.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 13.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 14.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 15.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 16.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 17.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 18.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 19.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 20.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 21.
[Genesis] [18:03:35] [DEBUG] Preprocessed file (`.gsd`) found in cache for geom idx 22.
[Genesis] [18:03:35] [INFO] Building scene <2aca826>...
[Genesis] [18:03:36] [DEBUG] Constraint solver time constant not specified. Using default value (`0.02`).
[Genesis] [18:03:36] [DEBUG] Constraint solver time constant not specified. Using default value (`0.02`).
[Genesis] [18:03:36] [WARNING] Reference robot position exceeds joint limits.
[Genesis] [18:03:36] [WARNING] Constraint solver time constant should be greater than 2*substep_dt. timeconst is changed from `0.005` to `0.02`). Decrease simulation timestep or increase timeconst to avoid altering the original value.
[Genesis] [18:03:40] [INFO] Compiling simulation kernels...
[E 08/11/25 18:03:55.958 12576221] Received signal 11 (Segmentation fault: 11)
* Taichi Core - Stack Traceback *
==========================================================================================
| Module | Offset | Function |
|----------------------------------------------------------------------------------------|
* taichi_python.cpython-312-darwin.so | 136 | taichi::Logger::error(std::__1::basic_ |
| string<char, std::__1::char_traits<char>, std |
| ::__1::allocator<char>> const&, bool) |
* taichi_python.cpython-312-darwin.so | 372 | taichi::(anonymous namespace)::signal_ |
| handler(int) |
* libsystem_platform.dylib | 56 | (null) |
* ??? | 1703675988 | (null) |
* taichi_python.cpython-312-darwin.so | 56 | taichi::lang::Program::launch_kernel(t |
| aichi::lang::CompiledKernelData const&, taich |
| i::lang::LaunchContextBuilder&) |
* taichi_python.cpython-312-darwin.so | 232 | void pybind11::cpp_function::initializ |
| e<pybind11::cpp_function::cpp_function<void, |
| taichi::lang::Program, taichi::lang::Compiled |
| KernelData const&, taichi::lang::LaunchContex |
| tBuilder&, pybind11::name, pybind11::is_metho |
| d, pybind11::sibling>(void (taichi::lang::Pro |
| gram::*)(taichi::lang::CompiledKernelData con |
| st&, taichi::lang::LaunchContextBuilder&), py |
| bind11::name const&, pybind11::is_method cons |
| t&, pybind11::sibling const&)::'lambda'(taich |
| i::lang::Program*, taichi::lang::CompiledKern |
| elData const&, taichi::lang::LaunchContextBui |
| lder&), void, taichi::lang::Program*, taichi: |
| :lang::CompiledKernelData const&, taichi::lan |
| g::LaunchContextBuilder&, pybind11::name, pyb |
| ind11::is_method, pybind11::sibling>(void&&, |
| taichi::lang::Program (*)(taichi::lang::Compi |
| ledKernelData const&, taichi::lang::LaunchCon |
| textBuilder&), pybind11::name const&, pybind1 |
| 1::is_method const&, pybind11::sibling const& |
| )::'lambda'(pybind11::detail::function_call&) |
| ::operator()(pybind11::detail::function_call& |
| ) const |
* taichi_python.cpython-312-darwin.so | 3720 | pybind11::cpp_function::dispatcher(_ob |
| ject*, _object*, _object*) |
* libpython3.12.dylib | 92 | (null) |
* libpython3.12.dylib | 308 | (null) |
* libpython3.12.dylib | 17752 | (null) |
* libpython3.12.dylib | 444 | (null) |
* libpython3.12.dylib | 20444 | (null) |
* libpython3.12.dylib | 272 | (null) |
* libpython3.12.dylib | 152 | (null) |
* libpython3.12.dylib | 224 | (null) |
* libpython3.12.dylib | 136 | (null) |
* libpython3.12.dylib | 20444 | (null) |
* libpython3.12.dylib | 144 | (null) |
* libpython3.12.dylib | 152 | (null) |
* libpython3.12.dylib | 224 | (null) |
* libpython3.12.dylib | 308 | (null) |
* libpython3.12.dylib | 17752 | (null) |
* libpython3.12.dylib | 144 | (null) |
* libpython3.12.dylib | 152 | (null) |
* libpython3.12.dylib | 224 | (null) |
* libpython3.12.dylib | 136 | (null) |
* libpython3.12.dylib | 20444 | (null) |
* libpython3.12.dylib | 144 | (null) |
* libpython3.12.dylib | 152 | (null) |
* libpython3.12.dylib | 224 | (null) |
* libpython3.12.dylib | 308 | (null) |
* libpython3.12.dylib | 17752 | (null) |
* libpython3.12.dylib | 144 | (null) |
* libpython3.12.dylib | 152 | (null) |
* libpython3.12.dylib | 224 | (null) |
* libpython3.12.dylib | 308 | (null) |
* libpython3.12.dylib | 17752 | (null) |
* libpython3.12.dylib | 144 | (null) |
* libpython3.12.dylib | 152 | (null) |
* libpython3.12.dylib | 224 | (null) |
* libpython3.12.dylib | 308 | (null) |
* libpython3.12.dylib | 17752 | (null) |
* libpython3.12.dylib | 252 | (null) |
* libpython3.12.dylib | 168 | (null) |
* libpython3.12.dylib | 876 | (null) |
* libpython3.12.dylib | 160 | (null) |
* libpython3.12.dylib | 336 | (null) |
* libpython3.12.dylib | 1560 | (null) |
* libpython3.12.dylib | 328 | (null) |
* libpython3.12.dylib | 40 | (null) |
* dyld | 6076 | (null) |
==========================================================================================
Internal error occurred. Check out this page for possible solutions:
https://docs.taichi-lang.org/docs/install |
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YilingQiao
approved these changes
Aug 15, 2025
winnieyangwannan
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Sep 14, 2025
…ed-AI#1541) * Improve huggingface download fault tolerance. * Enable taichi debug mode if possible. * Add opt-in flag for debug mode in unit tests. * Fix small nits. * Require 'taichi>=1.7.4'.
Kashu7100
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to Kashu7100/Genesis
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Jan 26, 2026
…ed-AI#1541) * Improve huggingface download fault tolerance. * Enable taichi debug mode if possible. * Add opt-in flag for debug mode in unit tests. * Fix small nits. * Require 'taichi>=1.7.4'.
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Description
Motivation and Context
This would make debugging of out-of-memory access much easier
How Has This Been / Can This Be Tested?
Screenshots (if appropriate):
Checklist:
Submitting Code Changessection of CONTRIBUTING document.