[Bug Report] object_layout_task.py fails on macOS

[zj2000826]

Describe the bug

get_started/obj_layout/object_layout_task.py couldn't be executed

Steps to reproduce

mjpython get_started/obj_layout/object_layout_task.py --sim mujoco

Traceback (most recent call last):
  File "/Users/zhaojin/Desktop/RoboVerse/get_started/obj_layout/object_layout_task.py", line 539, in <module>
    keyboard_client = ObjectKeyboardClient(entity_names, entity_types, entity_joints)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/zhaojin/Desktop/RoboVerse/get_started/obj_layout/object_layout_task.py", line 133, in __init__
    self.screen = pygame.display.set_mode((width, height))
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
pygame.error: NSWindow should only be instantiated on the main thread!
(viser) Server stopped

System Info

• OS:MacOS

[boshi-an]

Please avoid "NSWindow should only be instantiated on the main thread!" bug by using python get_started/obj_layout/object_layout_task.py --sim mujoco --device cpu instead of mjpython get_started/obj_layout/object_layout_task.py --sim mujoco

[boshi-an]

New bug

Execution latency is extremely high on MacOS

Description

Bug 1: When running the script, keyboard_client.draw_instructions() sometimes takes 1 second to return.
Bug 2: When keys are striked, the object either doesn't move, or keeps moving after keys are released.