Isaac Gym examples: black window when running joint_monkey.py?

turbobasic · January 15, 2021, 3:02am

Fresh install of Ubuntu 20.04 on a Razer laptop with Geforce RTX 2070. Driver version 450.102.04. Installed Isaac Gym in a conda environment.

Running joint_monkey.py results in:

Importing module 'gym_37' (/home/zxc/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/zxc/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
Not connected to PVD
INTEL-MESA: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

Loading asset 'mjcf/nv_humanoid.xml' from '../../assets'
DOF 0
  Name:     'abdomen_z'
  Type:     Rotation
  Stiffness:  20.0
  Damping:  5.0
  Armature:  0.02
  Limited?  True
    Lower   -0.785398
    Upper   0.785398
DOF 1
  Name:     'abdomen_y'
  Type:     Rotation
  Stiffness:  20.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.308997
    Upper   0.523599
DOF 2
  Name:     'abdomen_x'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -0.610865
    Upper   0.610865
DOF 3
  Name:     'right_hip_x'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -0.785398
    Upper   0.261799
DOF 4
  Name:     'right_hip_z'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.047198
    Upper   0.610865
DOF 5
  Name:     'right_hip_y'
  Type:     Rotation
  Stiffness:  20.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -2.094395
    Upper   0.785398
DOF 6
  Name:     'right_knee'
  Type:     Rotation
  Stiffness:  5.0
  Damping:  0.1
  Armature:  0.007
  Limited?  True
    Lower   -2.792527
    Upper   0.034907
DOF 7
  Name:     'right_ankle_y'
  Type:     Rotation
  Stiffness:  2.0
  Damping:  1.0
  Armature:  0.006
  Limited?  True
    Lower   -0.872665
    Upper   0.872665
DOF 8
  Name:     'right_ankle_x'
  Type:     Rotation
  Stiffness:  2.0
  Damping:  1.0
  Armature:  0.006
  Limited?  True
    Lower   -0.872665
    Upper   0.872665
DOF 9
  Name:     'left_hip_x'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -0.785398
    Upper   0.261799
DOF 10
  Name:     'left_hip_z'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.047198
    Upper   0.610865
DOF 11
  Name:     'left_hip_y'
  Type:     Rotation
  Stiffness:  20.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -2.094395
    Upper   0.785398
DOF 12
  Name:     'left_knee'
  Type:     Rotation
  Stiffness:  5.0
  Damping:  0.1
  Armature:  0.007
  Limited?  True
    Lower   -2.792527
    Upper   0.034907
DOF 13
  Name:     'left_ankle_y'
  Type:     Rotation
  Stiffness:  2.0
  Damping:  1.0
  Armature:  0.006
  Limited?  True
    Lower   -0.872665
    Upper   0.872665
DOF 14
  Name:     'left_ankle_x'
  Type:     Rotation
  Stiffness:  2.0
  Damping:  1.0
  Armature:  0.006
  Limited?  True
    Lower   -0.872665
    Upper   0.872665
DOF 15
  Name:     'right_shoulder1'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.570796
    Upper   1.221731
DOF 16
  Name:     'right_shoulder2'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.570796
    Upper   1.221731
DOF 17
  Name:     'right_elbow'
  Type:     Rotation
  Stiffness:  2.0
  Damping:  1.0
  Armature:  0.006
  Limited?  True
    Lower   -1.570796
    Upper   0.872665
DOF 18
  Name:     'left_shoulder1'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.221731
    Upper   1.570796
DOF 19
  Name:     'left_shoulder2'
  Type:     Rotation
  Stiffness:  10.0
  Damping:  5.0
  Armature:  0.01
  Limited?  True
    Lower   -1.221731
    Upper   1.570796
DOF 20
  Name:     'left_elbow'
  Type:     Rotation
  Stiffness:  2.0
  Damping:  1.0
  Armature:  0.006
  Limited?  True
    Lower   -1.570796
    Upper   0.872665
Creating 36 environments
Animating DOF 0 ('abdomen_z')

This seems like a proper output, but the window titled “Isaac Gym” that launches alongside is black and gives a “Isaac Gym is not responding: Force Quit / Wait” prompt.

Running a cartpole test as suggested in documentation, simlarly results in a black window, with a Segmentation Fault on top:

Importing module 'gym_37' (/home/zxc/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/zxc/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 1.7.0
Device count 1
Current device 0
/home/zxc/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /home/zxc/.cache/torch_extensions as PyTorch extensions root...
Emitting ninja build file /home/zxc/.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...
Importing module 'rlgpu_37' (/home/zxc/isaacgym/python/isaacgym/_bindings/linux-x86_64/rlgpu_37.so)
Horovod not installed! Continuing with single-GPU training.
Python GPU
[Warning] [carb.gym.plugin] useGpuPipeline is set, forcing GPU PhysX
Not connected to PVD
+++ Using GPU PhysX
INTEL-MESA: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

/home/zxc/anaconda3/envs/rlgpu/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
Sequential(
  (0): Linear(in_features=4, out_features=256, bias=True)
  (1): SELU()
  (2): Linear(in_features=256, out_features=128, bias=True)
  (3): SELU()
  (4): Linear(in_features=128, out_features=64, bias=True)
  (5): SELU()
  (6): Linear(in_features=64, out_features=1, bias=True)
)
Sequential(
  (0): Linear(in_features=4, out_features=256, bias=True)
  (1): SELU()
  (2): Linear(in_features=256, out_features=128, bias=True)
  (3): SELU()
  (4): Linear(in_features=128, out_features=64, bias=True)
  (5): SELU()
  (6): Linear(in_features=64, out_features=1, bias=True)
)
Segmentation fault (core dumped)

Any ideas?

sb1 · January 15, 2021, 5:53am

Sounds similar to the issues I had, essentially it wasn’t using the dedicated graphics card but the builtin Intel. I was missing the Vulcan drivers. You can try out the solution here: Ubuntu 20.04 libpython3.7m.so.1.0 error + segmentation fault

turbobasic · January 15, 2021, 4:42pm

yes! that was it and I got joint_monkey.py to work properly. I had both nvidia and intel mesa drivers listed in vulkaninfo and forcing to use nvidia fixed the problem:

export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json`

Just as in @sb1’s case:

Thanks!

sb1 · January 16, 2021, 2:05am

No problem. Really, thanks to @gstate 😊

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Isaac Gym examples: black window when running joint_monkey.py?

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