Hello everyone,
I am new to Isaac Sim/Lab and I encounter a Program loading delay, rendering results cannot be displayed in real time when I am testing the installation of Isaac Sim. I do not think it as a crash. But apparently, it can not render smoothly.
I try to run the command below
${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
from [https://isaac-sim.github.io/IsaacLab/source/setup/installation/binaries_installation.html](https://Binary Installation)
The program took 142 seconds to execute, and the window is stuck and can not interact. Ubuntu prompt kept on emerge showing that the Sim is not responding.
This program aims to render boxes for 5 epoch, each epoch for 500 times.
The boxes could be loaded correctly, however, due to some lag/ timedelay/stuck.
From the my perspective, the program seems correct, but the delay/stuck make all the render misses, and I can only catch the last screen and then the program is shutdown.
Code for add_cubes.py
# Copyright (c) 2021-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import numpy as np
from isaacsim import SimulationApp
simulation_app = SimulationApp({"headless": False})
from omni.isaac.core import World
from omni.isaac.core.objects import DynamicCuboid, VisualCuboid
my_world = World(stage_units_in_meters=1.0)
cube_1 = my_world.scene.add(
VisualCuboid(
prim_path="/new_cube_1",
name="visual_cube",
position=np.array([0, 0, 0.5]),
size=0.3,
color=np.array([255, 255, 255]),
)
)
cube_2 = my_world.scene.add(
DynamicCuboid(
prim_path="/new_cube_2",
name="cube_1",
position=np.array([0, 0, 1.0]),
scale=np.array([0.6, 0.5, 0.2]),
size=1.0,
color=np.array([255, 0, 0]),
)
)
cube_3 = my_world.scene.add(
DynamicCuboid(
prim_path="/new_cube_3",
name="cube_2",
position=np.array([0, 0, 3.0]),
scale=np.array([0.1, 0.1, 0.1]),
size=1.0,
color=np.array([0, 0, 255]),
linear_velocity=np.array([0, 0, 0.4]),
)
)
my_world.scene.add_default_ground_plane()
for i in range(5):
my_world.reset()
for i in range(500):
my_world.step(render=True)
# print(cube_2.get_angular_velocity())
# print(cube_2.get_world_pose())
simulation_app.close()
Full output from the command:
jerry@jerry-CORSAIR-VENGEANCE-i7500:~$ ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
Starting kit application with the following args: ['/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts', '--ext-folder', '/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/kit/logs/Kit/Isaac-Sim/4.0/kit_20241002_120245.log
2024-10-02 19:02:45 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.023s] [ext: omni.kit.async_engine-0.0.0] startup
[0.190s] [ext: omni.stats-0.0.0] startup
[0.190s] [ext: omni.client-1.1.0] startup
[0.205s] [ext: omni.datastore-0.0.0] startup
[0.205s] [ext: omni.blobkey-1.1.0] startup
[0.205s] [ext: omni.ujitso.default-1.0.0] startup
[0.205s] [ext: omni.hsscclient-0.0.0] startup
[0.206s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup
[0.206s] [ext: omni.assets.plugins-0.0.0] startup
[0.207s] [ext: omni.gpu_foundation-0.0.0] startup
[0.211s] [ext: carb.windowing.plugins-1.0.0] startup
[0.217s] [ext: omni.kit.renderer.init-0.0.0] startup
|---------------------------------------------------------------------------------------------|
| Driver Version: 560.35.03 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 |
| | | | | | 2684 | c7bc1714.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-43-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64160 | Free Memory: 58345
| Total Page/Swap (MB): 1952 | Free Page/Swap: 1946
|---------------------------------------------------------------------------------------------|
[0.781s] [ext: omni.kit.pipapi-0.0.0] startup
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[0.782s] [ext: omni.pip.compute-1.3.1] startup
[0.783s] [ext: omni.pip.cloud-1.1.3] startup
[0.784s] [ext: omni.isaac.core_archive-2.3.0] startup
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[2.405s] [ext: omni.kit.usd.layers-2.1.30] startup
[2.410s] [ext: omni.volume-0.5.0] startup
[2.411s] [ext: omni.kit.menu.utils-1.5.23] startup
[2.417s] [ext: omni.kit.context_menu-1.8.0] startup
[2.417s] [ext: omni.hydra.rtx-0.2.0] startup
[2.425s] [ext: omni.kit.material.library-1.4.0] startup
[2.427s] [ext: omni.hydra.engine.stats-1.0.1] startup
[2.429s] [ext: omni.kit.widget.searchable_combobox-1.0.5] startup
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[2.434s] [ext: omni.kit.primitive.jerry@jerry-CORSAIR-VENGEANCE-i7500:~$ ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
Starting kit application with the following args: ['/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts', '--ext-folder', '/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/apps', '--/physics/cudaDevice=0', '--portable']
Passing the following args to the base kit application: []
[Info] [carb] Logging to file: /home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/kit/logs/Kit/Isaac-Sim/4.0/kit_20241002_120245.log
2024-10-02 19:02:45 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.023s] [ext: omni.kit.async_engine-0.0.0] startup
[0.190s] [ext: omni.stats-0.0.0] startup
[0.190s] [ext: omni.client-1.1.0] startup
[0.205s] [ext: omni.datastore-0.0.0] startup
[0.205s] [ext: omni.blobkey-1.1.0] startup
[0.205s] [ext: omni.ujitso.default-1.0.0] startup
[0.205s] [ext: omni.hsscclient-0.0.0] startup
[0.206s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup
[0.206s] [ext: omni.assets.plugins-0.0.0] startup
[0.207s] [ext: omni.gpu_foundation-0.0.0] startup
[0.211s] [ext: carb.windowing.plugins-1.0.0] startup
[0.217s] [ext: omni.kit.renderer.init-0.0.0] startup
|---------------------------------------------------------------------------------------------|
| Driver Version: 560.35.03 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 |
| | | | | | 2684 | c7bc1714.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-43-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64160 | Free Memory: 58345
| Total Page/Swap (MB): 1952 | Free Page/Swap: 1946
|---------------------------------------------------------------------------------------------|
[0.781s] [ext: omni.kit.pipapi-0.0.0] startup
[0.782s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.782s] [ext: omni.pip.compute-1.3.1] startup
[0.783s] [ext: omni.pip.cloud-1.1.3] startup
[0.784s] [ext: omni.isaac.core_archive-2.3.0] startup
[0.784s] [ext: omni.isaac.ml_archive-2.0.1] startup
[0.784s] [ext: omni.mtlx-0.1.0] startup
[0.785s] [ext: omni.usd.config-1.0.3] startup
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[2.450s] [ext: omni.kit.widget.stage-2.10.26] startup
[2.454s] [ext: omni.kit.widget.live_session_management-1.2.18] startup
[2.455s] [ext: omni.kit.viewport.window-106.0.8] startup
[2.465s] [ext: omni.kit.stage_template.core-1.1.20] startup
[2.465s] [ext: omni.graph.tools-1.77.0] startup
[2.475s] [ext: omni.kit.window.cursor-1.1.2] startup
[2.475s] [ext: omni.kit.viewport.utility-1.0.17] startup
[2.475s] [ext: omni.kit.stage_templates-1.2.2] startup
[2.476s] [ext: omni.kit.window.content_browser_registry-0.0.4] startup
[2.477s] [ext: omni.kit.viewport.menubar.core-107.0.0] startup
[2.483s] [ext: omni.kit.viewport.actions-105.2.8] startup
[2.485s] [ext: omni.kit.window.file-1.3.52] startup
[2.486s] [ext: omni.kit.widget.highlight_label-1.0.1] startup
[2.487s] [ext: omni.inspect-1.0.1] startup
[2.488s] [ext: omni.kit.window.content_browser-2.9.13] startup
[2.495s] [ext: omni.kit.viewport.menubar.display-106.0.0] startup
[2.495s] [ext: omni.kit.widget.graph-1.12.6] startup
[2.498s] [ext: omni.usdphysics-106.0.16] startup
[2.500s] [ext: omni.debugdraw-0.1.3] startup
[2.502s] [ext: omni.kit.widget.searchfield-1.1.5] startup
[2.503s] [ext: omni.kit.window.extensions-1.4.7] startup
[2.505s] [ext: omni.usdphysics.ui-106.0.16] startup
[2.519s] [ext: omni.kit.window.property-1.11.1] startup
[2.520s] [ext: omni.graph.core-2.170.0] startup
[2.521s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[2.522s] [ext: omni.kit.property.usd-3.21.26] startup
[2.526s] [ext: omni.graph-1.135.0] startup
[2.547s] [ext: omni.kvdb-106.0.16] startup
[2.548s] [ext: omni.graph.ui-1.67.1] startup
[2.558s] [ext: omni.graph.action_core-1.1.4] startup
[2.562s] [ext: omni.localcache-106.0.16] startup
[2.563s] [ext: omni.graph.action_nodes-1.21.3] startup
[2.568s] [ext: omni.physx.foundation-106.0.16] startup
[2.569s] [ext: omni.convexdecomposition-106.0.16] startup
[2.572s] [ext: omni.graph.action-1.101.1] startup
[2.574s] [ext: omni.physx.cooking-106.0.16] startup
[2.582s] [ext: omni.kit.widget.toolbar-1.6.2] startup
[2.599s] [ext: omni.kit.manipulator.transform-104.7.5] startup
[2.601s] [ext: omni.physx-106.0.16] startup
[2.608s] [ext: omni.kit.manipulator.tool.snap-1.4.5] startup
[2.611s] [ext: omni.physx.stageupdate-106.0.16] startup
[2.612s] [ext: omni.physx.commands-106.0.16] startup
[2.615s] [ext: omni.ui_query-1.1.2] startup
[2.616s] [ext: omni.graph.image.core-0.3.2] startup
[2.618s] [ext: omni.physx.ui-106.0.16] startup
[2.633s] [ext: omni.kit.ui_test-1.2.18] startup
[2.635s] [ext: omni.graph.image.nodes-1.0.2] startup
[2.635s] [ext: omni.physx.demos-106.0.16] startup
[2.645s] [ext: omni.graph.ui_nodes-1.24.1] startup
[2.648s] [ext: omni.graph.nodes-1.141.2] startup
[2.655s] [ext: omni.physx.cct-106.0.16] startup
[2.665s] [ext: omni.graph.bundle.action-2.0.4] startup
[2.666s] [ext: omni.command.usd-1.0.3] startup
[2.667s] [ext: omni.kit.numpy.common-0.1.2] startup
[2.669s] [ext: omni.kit.property.material-1.9.3] startup
[2.678s] [ext: omni.physx.graph-106.0.16] startup
[2.690s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[2.693s] [ext: omni.isaac.dynamic_control-1.3.7] startup
[2.717s] [ext: omni.kit.property.physx-106.0.16] startup
[2.773s] [ext: omni.isaac.version-1.1.0] startup
[2.774s] [ext: omni.kit.manipulator.viewport-107.0.0] startup
[2.775s] [ext: omni.kit.viewport.manipulator.transform-106.0.0] startup
ViewportTransformManipulatorExt on_startup
[2.776s] [ext: omni.physics.tensors-106.0.16] startup
[2.781s] [ext: omni.physx.vehicle-106.0.16] startup
[2.854s] [ext: omni.isaac.nucleus-0.1.2] startup
[2.855s] [ext: omni.fabric.commands-1.1.4] startup
[2.858s] [ext: omni.kit.manipulator.prim.core-106.0.2] startup
[2.862s] [ext: omni.physx.tensors-106.0.16] startup
[2.865s] [ext: omni.warp.core-1.1.0] startup
Warp 1.1.0 initialized:
CUDA Toolkit 11.5, Driver 12.6
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
Kernel cache:
/home/jerry/.cache/warp/1.1.0
[2.920s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[2.921s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[2.925s] [ext: omni.kit.manipulator.prim.fabric-106.0.1] startup
[2.926s] [ext: omni.kit.manipulator.prim.usd-106.0.1] startup
[2.929s] [ext: omni.isaac.core-3.12.0] startup
[3.569s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[3.571s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[3.572s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[3.574s] [ext: omni.kit.manipulator.prim-106.0.0] startup
[3.574s] [ext: omni.kit.manipulator.selection-104.0.9] startup
[3.575s] [ext: omni.kit.window.toolbar-1.6.1] startup
[3.577s] [ext: omni.kit.widget.layers-1.7.9] startup
[3.582s] [ext: omni.kit.window.material_graph-1.8.15] startup
[3.597s] [ext: omni.graph.scriptnode-1.18.2] startup
[3.599s] [ext: omni.kit.graph.delegate.modern-1.10.6] startup
[3.601s] [ext: omni.sensors.tiled-0.0.3] startup
[3.603s] [ext: omni.physx.supportui-106.0.16] startup
[3.612s] [ext: omni.physx.telemetry-106.0.16] startup
[3.615s] [ext: omni.physx.camera-106.0.16] startup
[3.621s] [ext: omni.isaac.ui-0.15.1] startup
[3.624s] [ext: omni.warp-1.1.0] startup
[3.628s] [ext: omni.syntheticdata-0.6.7] startup
[3.644s] [ext: omni.physx.bundle-106.0.16] startup
[3.645s] [ext: omni.isaac.utils-1.0.1] startup
[3.651s] [ext: omni.replicator.core-1.11.8] startup
2024-10-02 19:02:48 [3,686ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
[3.751s] [ext: omni.isaac.lula-3.0.1] startup
[3.757s] [ext: omni.isaac.surface_gripper-1.0.1] startup
[3.760s] [ext: omni.isaac.core_nodes-1.15.4] startup
[3.778s] [ext: omni.isaac.cloner-0.8.1] startup
[3.781s] [ext: omni.isaac.motion_generation-7.0.1] startup
[3.800s] [ext: omni.isaac.manipulators-2.1.0] startup
[3.811s] [ext: omni.kit.graph.widget.variables-2.1.0] startup
[3.815s] [ext: omni.isaac.gym-0.11.3] startup
[3.817s] [ext: omni.isaac.dofbot-0.3.2] startup
[3.820s] [ext: omni.graph.window.core-1.107.1] startup
[3.842s] [ext: omni.importer.mjcf-1.1.0] startup
[3.852s] [ext: omni.isaac.menu-0.4.1] startup
[3.855s] [ext: omni.graph.window.generic-1.23.1] startup
[3.864s] [ext: omni.graph.window.action-1.25.2] startup
[3.870s] [ext: omni.kit.actions.window-1.1.1] startup
[3.877s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[3.879s] [ext: omni.isaac.wheeled_robots-2.1.3] startup
[3.883s] [ext: omni.kit.ui.actions-1.0.1] startup
[3.888s] [ext: omni.kit.hotkeys.window-1.4.5] startup
[3.901s] [ext: omni.kit.selection-0.1.4] startup
[3.904s] [ext: omni.kit.manipulator.camera-105.0.5] startup
[3.909s] [ext: omni.kit.menu.common-1.1.5] startup
[3.915s] [ext: omni.isaac.kit-1.10.0] startup
[3.915s] [ext: omni.kit.menu.edit-1.1.19] startup
[3.917s] [ext: omni.kit.menu.file-1.1.9] startup
[3.918s] [ext: omni.isaac.franka-0.4.1] startup
[3.919s] [ext: omni.kit.widget.stage_icons-1.0.3] startup
[3.921s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-10-02 19:02:48 [3,941ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[3.950s] [ext: omni.kit.property.audio-1.0.11] startup
[3.952s] [ext: omni.isaac.cortex-0.3.8] startup
[3.952s] [ext: omni.kit.window.stage-2.5.9] startup
[3.956s] [ext: omni.kit.property.geometry-1.3.0] startup
[3.958s] [ext: omni.kit.property.camera-1.0.6] startup
[3.959s] [ext: omni.sensors.nv.common-1.0.1] startup
[3.965s] [ext: omni.kit.menu.stage-1.2.5] startup
[3.966s] [ext: omni.isaac.debug_draw-0.7.1] startup
[3.969s] [ext: omni.sensors.nv.wpm-1.0.0] startup
[3.970s] [ext: omni.sensors.nv.materials-1.0.0] startup
[3.971s] [ext: omni.isaac.range_sensor-3.0.1] startup
[3.977s] [ext: omni.hydra.scene_api-0.1.2] startup
[3.982s] [ext: omni.sensors.nv.radar-1.0.1] startup
[3.985s] [ext: omni.sensors.nv.lidar-1.0.1] startup
[3.988s] [ext: omni.kit.property.render-1.1.1] startup
[3.989s] [ext: omni.kit.property.transform-1.5.1] startup
[3.991s] [ext: omni.kit.property.light-1.0.8] startup
[3.992s] [ext: omni.isaac.sensor-11.3.0] startup
[4.033s] [ext: omni.isaac.block_world-1.0.0] startup
[4.037s] [ext: omni.kit.property.bundle-1.2.11] startup
[4.039s] [ext: omni.kit.property.isaac-0.2.3] startup
[4.042s] [ext: omni.isaac.quadruped-1.4.5] startup
[4.054s] [ext: omni.isaac.occupancy_map-1.0.1] startup
[4.060s] [ext: omni.rtx.window.settings-0.6.15] startup
[4.067s] [ext: omni.kit.widget.live-2.1.6] startup
[4.068s] [ext: omni.kit.widget.calendar-1.0.8] startup
[4.069s] [ext: omni.kit.property.layer-1.1.5] startup
[4.070s] [ext: omni.kit.viewport.menubar.render-106.1.2] startup
[4.072s] [ext: omni.kit.viewport.menubar.settings-106.0.0] startup
[4.075s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[4.075s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[4.076s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup
[4.080s] [ext: omni.kit.widget.timeline-105.0.1] startup
[4.082s] [ext: omni.kit.window.commands-0.2.5] startup
[4.084s] [ext: omni.kit.window.console-0.2.12] startup
[4.090s] [ext: omni.kit.window.script_editor-1.7.6] startup
[4.091s] [ext: omni.kit.menu.create-1.0.12] startup
[4.092s] [ext: omni.kit.window.status_bar-0.1.6] startup
[4.095s] [ext: omni.kit.window.title-1.1.3] startup
[4.095s] [ext: omni.replicator.isaac-1.15.0] startup
[4.103s] [ext: omni.replicator.replicator_yaml-2.0.5] startup
[4.116s] [ext: omni.rtx.settings.core-0.6.0] startup
[4.122s] [ext: omni.kit.stage_column.payload-2.0.0] startup
[4.124s] [ext: omni.isaac.scene_blox-0.1.1] startup
[4.125s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[4.128s] [ext: semantics.schema.editor-0.3.4] startup
[4.133s] [ext: semantics.schema.property-1.0.2] startup
[4.134s] [ext: omni.kit.viewport.menubar.camera-105.1.8] startup
[4.140s] [ext: omni.isaac.universal_robots-0.3.5] startup
[4.141s] [ext: omni.isaac.cortex.sample_behaviors-1.0.5] startup
[4.143s] [ext: omni.importer.urdf-1.14.1] startup
[4.170s] [ext: omni.kit.window.stats-0.1.6] startup
[4.170s] [ext: omni.isaac.sim.python-4.0.0] startup
[4.176s] Simulation App Starting
[5.360s] app ready
[6.053s] Simulation App Startup Complete
2024-10-02 19:03:11 [26,075ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/standalone_examples/api/omni.isaac.core/add_cubes.py", line 53, in <module>
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 265, in add_default_ground_plane
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.nucleus/omni/isaac/nucleus/nucleus.py", line 572, in get_assets_root_path
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.nucleus/omni/isaac/nucleus/nucleus.py", line 192, in check_server
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/kit/extscore/omni.client/omni/client/__init__.py", line 130, in stat
2024-10-02 19:05:11 [146,035ms] [Warning] [omni.usd] Unexpected reference count of 2 for UsdStage 'anon:0x15c75f0:World0.usd' while being closed in UsdContext (this may indicate it is still resident in memory).
[146.099s] Simulation App Shutting Down
mesh-1.0.16] startup
[2.436s] [ext: omni.kit.widget.settings-1.1.0] startup
[2.437s] [ext: omni.kit.widget.prompt-1.0.7] startup
[2.437s] [ext: omni.kit.collaboration.presence_layer-1.0.8] startup
[2.438s] [ext: omni.kit.hotkeys.core-1.3.3] startup
[2.438s] [ext: omni.kit.window.preferences-1.5.1] startup
[2.443s] [ext: omni.kit.widget.live_session_management.ui-1.0.1] startup
[2.444s] [ext: omni.kit.window.drop_support-1.0.1] startup
[2.444s] [ext: omni.kit.hydra_texture-1.2.6] startup
[2.447s] [ext: omni.kit.window.file_exporter-1.0.29] startup
[2.448s] [ext: omni.kit.widget.filter-1.1.3] startup
[2.448s] [ext: omni.kit.widget.viewport-106.0.2] startup
[2.450s] [ext: omni.kit.widget.stage-2.10.26] startup
[2.454s] [ext: omni.kit.widget.live_session_management-1.2.18] startup
[2.455s] [ext: omni.kit.viewport.window-106.0.8] startup
[2.465s] [ext: omni.kit.stage_template.core-1.1.20] startup
[2.465s] [ext: omni.graph.tools-1.77.0] startup
[2.475s] [ext: omni.kit.window.cursor-1.1.2] startup
[2.475s] [ext: omni.kit.viewport.utility-1.0.17] startup
[2.475s] [ext: omni.kit.stage_templates-1.2.2] startup
[2.476s] [ext: omni.kit.window.content_browser_registry-0.0.4] startup
[2.477s] [ext: omni.kit.viewport.menubar.core-107.0.0] startup
[2.483s] [ext: omni.kit.viewport.actions-105.2.8] startup
[2.485s] [ext: omni.kit.window.file-1.3.52] startup
[2.486s] [ext: omni.kit.widget.highlight_label-1.0.1] startup
[2.487s] [ext: omni.inspect-1.0.1] startup
[2.488s] [ext: omni.kit.window.content_browser-2.9.13] startup
[2.495s] [ext: omni.kit.viewport.menubar.display-106.0.0] startup
[2.495s] [ext: omni.kit.widget.graph-1.12.6] startup
[2.498s] [ext: omni.usdphysics-106.0.16] startup
[2.500s] [ext: omni.debugdraw-0.1.3] startup
[2.502s] [ext: omni.kit.widget.searchfield-1.1.5] startup
[2.503s] [ext: omni.kit.window.extensions-1.4.7] startup
[2.505s] [ext: omni.usdphysics.ui-106.0.16] startup
[2.519s] [ext: omni.kit.window.property-1.11.1] startup
[2.520s] [ext: omni.graph.core-2.170.0] startup
[2.521s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[2.522s] [ext: omni.kit.property.usd-3.21.26] startup
[2.526s] [ext: omni.graph-1.135.0] startup
[2.547s] [ext: omni.kvdb-106.0.16] startup
[2.548s] [ext: omni.graph.ui-1.67.1] startup
[2.558s] [ext: omni.graph.action_core-1.1.4] startup
[2.562s] [ext: omni.localcache-106.0.16] startup
[2.563s] [ext: omni.graph.action_nodes-1.21.3] startup
[2.568s] [ext: omni.physx.foundation-106.0.16] startup
[2.569s] [ext: omni.convexdecomposition-106.0.16] startup
[2.572s] [ext: omni.graph.action-1.101.1] startup
[2.574s] [ext: omni.physx.cooking-106.0.16] startup
[2.582s] [ext: omni.kit.widget.toolbar-1.6.2] startup
[2.599s] [ext: omni.kit.manipulator.transform-104.7.5] startup
[2.601s] [ext: omni.physx-106.0.16] startup
[2.608s] [ext: omni.kit.manipulator.tool.snap-1.4.5] startup
[2.611s] [ext: omni.physx.stageupdate-106.0.16] startup
[2.612s] [ext: omni.physx.commands-106.0.16] startup
[2.615s] [ext: omni.ui_query-1.1.2] startup
[2.616s] [ext: omni.graph.image.core-0.3.2] startup
[2.618s] [ext: omni.physx.ui-106.0.16] startup
[2.633s] [ext: omni.kit.ui_test-1.2.18] startup
[2.635s] [ext: omni.graph.image.nodes-1.0.2] startup
[2.635s] [ext: omni.physx.demos-106.0.16] startup
[2.645s] [ext: omni.graph.ui_nodes-1.24.1] startup
[2.648s] [ext: omni.graph.nodes-1.141.2] startup
[2.655s] [ext: omni.physx.cct-106.0.16] startup
[2.665s] [ext: omni.graph.bundle.action-2.0.4] startup
[2.666s] [ext: omni.command.usd-1.0.3] startup
[2.667s] [ext: omni.kit.numpy.common-0.1.2] startup
[2.669s] [ext: omni.kit.property.material-1.9.3] startup
[2.678s] [ext: omni.physx.graph-106.0.16] startup
[2.690s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[2.693s] [ext: omni.isaac.dynamic_control-1.3.7] startup
[2.717s] [ext: omni.kit.property.physx-106.0.16] startup
[2.773s] [ext: omni.isaac.version-1.1.0] startup
[2.774s] [ext: omni.kit.manipulator.viewport-107.0.0] startup
[2.775s] [ext: omni.kit.viewport.manipulator.transform-106.0.0] startup
ViewportTransformManipulatorExt on_startup
[2.776s] [ext: omni.physics.tensors-106.0.16] startup
[2.781s] [ext: omni.physx.vehicle-106.0.16] startup
[2.854s] [ext: omni.isaac.nucleus-0.1.2] startup
[2.855s] [ext: omni.fabric.commands-1.1.4] startup
[2.858s] [ext: omni.kit.manipulator.prim.core-106.0.2] startup
[2.862s] [ext: omni.physx.tensors-106.0.16] startup
[2.865s] [ext: omni.warp.core-1.1.0] startup
Warp 1.1.0 initialized:
CUDA Toolkit 11.5, Driver 12.6
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
Kernel cache:
/home/jerry/.cache/warp/1.1.0
[2.920s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[2.921s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[2.925s] [ext: omni.kit.manipulator.prim.fabric-106.0.1] startup
[2.926s] [ext: omni.kit.manipulator.prim.usd-106.0.1] startup
[2.929s] [ext: omni.isaac.core-3.12.0] startup
[3.569s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[3.571s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[3.572s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[3.574s] [ext: omni.kit.manipulator.prim-106.0.0] startup
[3.574s] [ext: omni.kit.manipulator.selection-104.0.9] startup
[3.575s] [ext: omni.kit.window.toolbar-1.6.1] startup
[3.577s] [ext: omni.kit.widget.layers-1.7.9] startup
[3.582s] [ext: omni.kit.window.material_graph-1.8.15] startup
[3.597s] [ext: omni.graph.scriptnode-1.18.2] startup
[3.599s] [ext: omni.kit.graph.delegate.modern-1.10.6] startup
[3.601s] [ext: omni.sensors.tiled-0.0.3] startup
[3.603s] [ext: omni.physx.supportui-106.0.16] startup
[3.612s] [ext: omni.physx.telemetry-106.0.16] startup
[3.615s] [ext: omni.physx.camera-106.0.16] startup
[3.621s] [ext: omni.isaac.ui-0.15.1] startup
[3.624s] [ext: omni.warp-1.1.0] startup
[3.628s] [ext: omni.syntheticdata-0.6.7] startup
[3.644s] [ext: omni.physx.bundle-106.0.16] startup
[3.645s] [ext: omni.isaac.utils-1.0.1] startup
[3.651s] [ext: omni.replicator.core-1.11.8] startup
2024-10-02 19:02:48 [3,686ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
[3.751s] [ext: omni.isaac.lula-3.0.1] startup
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[3.781s] [ext: omni.isaac.motion_generation-7.0.1] startup
[3.800s] [ext: omni.isaac.manipulators-2.1.0] startup
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[3.815s] [ext: omni.isaac.gym-0.11.3] startup
[3.817s] [ext: omni.isaac.dofbot-0.3.2] startup
[3.820s] [ext: omni.graph.window.core-1.107.1] startup
[3.842s] [ext: omni.importer.mjcf-1.1.0] startup
[3.852s] [ext: omni.isaac.menu-0.4.1] startup
[3.855s] [ext: omni.graph.window.generic-1.23.1] startup
[3.864s] [ext: omni.graph.window.action-1.25.2] startup
[3.870s] [ext: omni.kit.actions.window-1.1.1] startup
[3.877s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[3.879s] [ext: omni.isaac.wheeled_robots-2.1.3] startup
[3.883s] [ext: omni.kit.ui.actions-1.0.1] startup
[3.888s] [ext: omni.kit.hotkeys.window-1.4.5] startup
[3.901s] [ext: omni.kit.selection-0.1.4] startup
[3.904s] [ext: omni.kit.manipulator.camera-105.0.5] startup
[3.909s] [ext: omni.kit.menu.common-1.1.5] startup
[3.915s] [ext: omni.isaac.kit-1.10.0] startup
[3.915s] [ext: omni.kit.menu.edit-1.1.19] startup
[3.917s] [ext: omni.kit.menu.file-1.1.9] startup
[3.918s] [ext: omni.isaac.franka-0.4.1] startup
[3.919s] [ext: omni.kit.widget.stage_icons-1.0.3] startup
[3.921s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-10-02 19:02:48 [3,941ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead
[3.950s] [ext: omni.kit.property.audio-1.0.11] startup
[3.952s] [ext: omni.isaac.cortex-0.3.8] startup
[3.952s] [ext: omni.kit.window.stage-2.5.9] startup
[3.956s] [ext: omni.kit.property.geometry-1.3.0] startup
[3.958s] [ext: omni.kit.property.camera-1.0.6] startup
[3.959s] [ext: omni.sensors.nv.common-1.0.1] startup
[3.965s] [ext: omni.kit.menu.stage-1.2.5] startup
[3.966s] [ext: omni.isaac.debug_draw-0.7.1] startup
[3.969s] [ext: omni.sensors.nv.wpm-1.0.0] startup
[3.970s] [ext: omni.sensors.nv.materials-1.0.0] startup
[3.971s] [ext: omni.isaac.range_sensor-3.0.1] startup
[3.977s] [ext: omni.hydra.scene_api-0.1.2] startup
[3.982s] [ext: omni.sensors.nv.radar-1.0.1] startup
[3.985s] [ext: omni.sensors.nv.lidar-1.0.1] startup
[3.988s] [ext: omni.kit.property.render-1.1.1] startup
[3.989s] [ext: omni.kit.property.transform-1.5.1] startup
[3.991s] [ext: omni.kit.property.light-1.0.8] startup
[3.992s] [ext: omni.isaac.sensor-11.3.0] startup
[4.033s] [ext: omni.isaac.block_world-1.0.0] startup
[4.037s] [ext: omni.kit.property.bundle-1.2.11] startup
[4.039s] [ext: omni.kit.property.isaac-0.2.3] startup
[4.042s] [ext: omni.isaac.quadruped-1.4.5] startup
[4.054s] [ext: omni.isaac.occupancy_map-1.0.1] startup
[4.060s] [ext: omni.rtx.window.settings-0.6.15] startup
[4.067s] [ext: omni.kit.widget.live-2.1.6] startup
[4.068s] [ext: omni.kit.widget.calendar-1.0.8] startup
[4.069s] [ext: omni.kit.property.layer-1.1.5] startup
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[4.075s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[4.075s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[4.076s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup
[4.080s] [ext: omni.kit.widget.timeline-105.0.1] startup
[4.082s] [ext: omni.kit.window.commands-0.2.5] startup
[4.084s] [ext: omni.kit.window.console-0.2.12] startup
[4.090s] [ext: omni.kit.window.script_editor-1.7.6] startup
[4.091s] [ext: omni.kit.menu.create-1.0.12] startup
[4.092s] [ext: omni.kit.window.status_bar-0.1.6] startup
[4.095s] [ext: omni.kit.window.title-1.1.3] startup
[4.095s] [ext: omni.replicator.isaac-1.15.0] startup
[4.103s] [ext: omni.replicator.replicator_yaml-2.0.5] startup
[4.116s] [ext: omni.rtx.settings.core-0.6.0] startup
[4.122s] [ext: omni.kit.stage_column.payload-2.0.0] startup
[4.124s] [ext: omni.isaac.scene_blox-0.1.1] startup
[4.125s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[4.128s] [ext: semantics.schema.editor-0.3.4] startup
[4.133s] [ext: semantics.schema.property-1.0.2] startup
[4.134s] [ext: omni.kit.viewport.menubar.camera-105.1.8] startup
[4.140s] [ext: omni.isaac.universal_robots-0.3.5] startup
[4.141s] [ext: omni.isaac.cortex.sample_behaviors-1.0.5] startup
[4.143s] [ext: omni.importer.urdf-1.14.1] startup
[4.170s] [ext: omni.kit.window.stats-0.1.6] startup
[4.170s] [ext: omni.isaac.sim.python-4.0.0] startup
[4.176s] Simulation App Starting
[5.360s] app ready
[6.053s] Simulation App Startup Complete
2024-10-02 19:03:11 [26,075ms] [Warning] [omni.client.python] Detected a blocking function. This will cause hitches or hangs in the UI. Please switch to the async version:
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/standalone_examples/api/omni.isaac.core/add_cubes.py", line 53, in <module>
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 265, in add_default_ground_plane
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.nucleus/omni/isaac/nucleus/nucleus.py", line 572, in get_assets_root_path
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.nucleus/omni/isaac/nucleus/nucleus.py", line 192, in check_server
File "/home/jerry/.local/share/ov/pkg/isaac-sim-4.0.0/kit/extscore/omni.client/omni/client/__init__.py", line 130, in stat
2024-10-02 19:05:11 [146,035ms] [Warning] [omni.usd] Unexpected reference count of 2 for UsdStage 'anon:0x15c75f0:World0.usd' while being closed in UsdContext (this may indicate it is still resident in memory).
[146.099s] Simulation App Shutting Down