Create camera sensor fail on buffer

Autonomous Machines Robotics - Isaac Isaac Gym
1

I have problems creating a camera sensor with enable_tensors set to True. The interop_torch.py example fails with the same error.
The line
cam_handle = gym.create_camera_sensor(env, cam_props)
throw the following error:

[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on depthImage buffer with error 101
[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on segmentationImage buffer with error 101
[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on optical flow buffer with error 101

And the PyTorch tensor can’t be created afterwards.

Here is the full output of the interop_torch.py example:



```/usr/bin/python3.8 /snap/pycharm-community/248/plugins/python-ce/helpers/pydev/pydevd.py --multiproc --qt-support=auto --client 127.0.0.1 --port 40069 --file /home/alex/isaacgym/python/examples/interop_torch.py
Connected to pydev debugger (build 212.4746.96)
Importing module 'gym_38' (/home/alex/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/alex/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 1.9.0+cu111
Device count 2
/home/alex/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /home/alex/.cache/torch_extensions as PyTorch extensions root...
Emitting ninja build file /home/alex/.cache/torch_extensions/gymtorch/build.ninja...
Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: enabled
[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on rgbImage buffer with error 101
[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on depthImage buffer with error 101
[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on segmentationImage buffer with error 101
[Error] [carb.gym.plugin] cudaExternamMemoryGetMappedBuffer failed on optical flow buffer with error 101
Got camera tensor with shape (128, 128, 4)
*** Can't create empty tensor
Traceback (most recent call last):
  File "/snap/pycharm-community/248/plugins/python-ce/helpers/pydev/pydevd.py", line 1483, in _exec
    pydev_imports.execfile(file, globals, locals)  # execute the script
  File "/snap/pycharm-community/248/plugins/python-ce/helpers/pydev/_pydev_imps/_pydev_execfile.py", line 18, in execfile
    exec(compile(contents+"\n", file, 'exec'), glob, loc)
  File "/home/alex/isaacgym/python/examples/interop_torch.py", line 121, in <module>
    print("  Torch camera tensor device:", torch_cam_tensor.device)
AttributeError: 'NoneType' object has no attribute 'device'
python-BaseException
1 Like
2

I have been able to make it work by removing a GPU from my machine. Before I had a 1080 TI and RTX 3080 in my PC. If I remove the 1080 TI the example works without problems. However, I would still like to keep both GPUs installed.

3

Hi @kogli2000

To bypass the issue for now, you can try setting CUDA_VISIBLE_DEVICES to just one of your GPUs when running your script so you do not have to remove your other GPU for it to work.

4

This works unfortunately only for the 1080 TI. When I select the RTX 3080 I receive a segfault.

Importing module 'gym_38' (/home/alex/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/alex/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 1.9.0+cu111
Device count 1
/home/alex/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /home/alex/.cache/torch_extensions as PyTorch extensions root...
Emitting ninja build file /home/alex/.cache/torch_extensions/gymtorch/build.ninja...
Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: enabled
Segmentation fault (core dumped)
1 Like
5

I have finally solved this problem by also setting the ‘MESA_VK_DEVICE_SELECT’ variable.

So this is the code I used. And it has to be run before any isaacgym import.

os.environ['MESA_VK_DEVICE_SELECT'] = '10de:2206'
os.environ["CUDA_VISIBLE_DEVICES"] = '0'

The device id can be figured out with the command

MESA_VK_DEVICE_SELECT=list vulkaninfo
2 Likes