Isaac Sim Unity3d Sample is aborted

Hi,

I ran the following command, referring to https://docs.nvidia.com/isaac/isaac/doc/simulation/unity3d.html, to run the sample simulation .
./sample.x86_64 --scene small_warehouse -logFile -

However, the sample is aborted.
stdout is below.

Set current directory to /root/isaac_sim_unity3d/builds
Found path: /root/isaac_sim_unity3d/builds/sample.x86_64
Mono path[0] = ‘/root/isaac_sim_unity3d/builds/sample_Data/Managed’
Mono config path = ‘/root/isaac_sim_unity3d/builds/sample_Data/MonoBleedingEdge/etc’
Preloaded ‘libSubstance.Engine.so’
Preloaded ‘libsubstance_sse2_blend.so’
Unable to load player prefs
Desktop is 0 x 0 @ 0 Hz
[Vulkan init] extensions: count=16
[Vulkan init] extensions: name=VK_KHR_device_group_creation, enabled=0
[Vulkan init] extensions: name=VK_KHR_display, enabled=1
[Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_display_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0
[Vulkan init] extensions: name=VK_KHR_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1
[Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_utils, enabled=0
[Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0
Vulkan detection: 2
Initialize engine version: 2019.3.0f6 (27ab2135bccf)
[Subsystems] Discovering subsystems at path /root/isaac_sim_unity3d/builds/sample_Data/UnitySubsystems
GfxDevice: creating device client; threaded=1
[Vulkan init] extensions: count=16
[Vulkan init] extensions: name=VK_KHR_device_group_creation, enabled=0
[Vulkan init] extensions: name=VK_KHR_display, enabled=1
[Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_display_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0
[Vulkan init] extensions: name=VK_KHR_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1
[Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_utils, enabled=0
[Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0
[Vulkan init] extensions: count=67
[Vulkan init] extensions: name=VK_KHR_8bit_storage, enabled=0
[Vulkan init] extensions: name=VK_KHR_16bit_storage, enabled=0
[Vulkan init] extensions: name=VK_KHR_bind_memory2, enabled=0
[Vulkan init] extensions: name=VK_KHR_create_renderpass2, enabled=0
[Vulkan init] extensions: name=VK_KHR_dedicated_allocation, enabled=1
[Vulkan init] extensions: name=VK_KHR_depth_stencil_resolve, enabled=0
[Vulkan init] extensions: name=VK_KHR_descriptor_update_template, enabled=1
[Vulkan init] extensions: name=VK_KHR_device_group, enabled=0
[Vulkan init] extensions: name=VK_KHR_draw_indirect_count, enabled=0
[Vulkan init] extensions: name=VK_KHR_driver_properties, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_fence, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_fence_fd, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_fd, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_fd, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_memory_requirements2, enabled=1
[Vulkan init] extensions: name=VK_KHR_image_format_list, enabled=1
[Vulkan init] extensions: name=VK_KHR_maintenance1, enabled=1
[Vulkan init] extensions: name=VK_KHR_maintenance2, enabled=0
[Vulkan init] extensions: name=VK_KHR_maintenance3, enabled=0
[Vulkan init] extensions: name=VK_KHR_multiview, enabled=1
[Vulkan init] extensions: name=VK_KHR_push_descriptor, enabled=0
[Vulkan init] extensions: name=VK_KHR_relaxed_block_layout, enabled=0
[Vulkan init] extensions: name=VK_KHR_sampler_mirror_clamp_to_edge, enabled=1
[Vulkan init] extensions: name=VK_KHR_sampler_ycbcr_conversion, enabled=0
[Vulkan init] extensions: name=VK_KHR_shader_atomic_int64, enabled=0
[Vulkan init] extensions: name=VK_KHR_shader_draw_parameters, enabled=0
[Vulkan init] extensions: name=VK_KHR_shader_float16_int8, enabled=0
[Vulkan init] extensions: name=VK_KHR_shader_float_controls, enabled=0
[Vulkan init] extensions: name=VK_KHR_storage_buffer_storage_class, enabled=0
[Vulkan init] extensions: name=VK_KHR_swapchain, enabled=1
[Vulkan init] extensions: name=VK_KHR_swapchain_mutable_format, enabled=0
[Vulkan init] extensions: name=VK_KHR_variable_pointers, enabled=0
[Vulkan init] extensions: name=VK_KHR_vulkan_memory_model, enabled=0
[Vulkan init] extensions: name=VK_EXT_blend_operation_advanced, enabled=0
[Vulkan init] extensions: name=VK_EXT_conditional_rendering, enabled=0
[Vulkan init] extensions: name=VK_EXT_conservative_rasterization, enabled=0
[Vulkan init] extensions: name=VK_EXT_depth_range_unrestricted, enabled=0
[Vulkan init] extensions: name=VK_EXT_descriptor_indexing, enabled=0
[Vulkan init] extensions: name=VK_EXT_discard_rectangles, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_control, enabled=0
[Vulkan init] extensions: name=VK_EXT_global_priority, enabled=0
[Vulkan init] extensions: name=VK_EXT_inline_uniform_block, enabled=0
[Vulkan init] extensions: name=VK_EXT_post_depth_coverage, enabled=0
[Vulkan init] extensions: name=VK_EXT_sample_locations, enabled=0
[Vulkan init] extensions: name=VK_EXT_sampler_filter_minmax, enabled=0
[Vulkan init] extensions: name=VK_EXT_scalar_block_layout, enabled=0
[Vulkan init] extensions: name=VK_EXT_shader_subgroup_ballot, enabled=0
[Vulkan init] extensions: name=VK_EXT_shader_subgroup_vote, enabled=0
[Vulkan init] extensions: name=VK_EXT_shader_viewport_index_layer, enabled=0
[Vulkan init] extensions: name=VK_EXT_transform_feedback, enabled=0
[Vulkan init] extensions: name=VK_EXT_vertex_attribute_divisor, enabled=0
[Vulkan init] extensions: name=VK_NV_clip_space_w_scaling, enabled=0
[Vulkan init] extensions: name=VK_NV_dedicated_allocation, enabled=0
[Vulkan init] extensions: name=VK_NV_device_diagnostic_checkpoints, enabled=0
[Vulkan init] extensions: name=VK_NV_fill_rectangle, enabled=0
[Vulkan init] extensions: name=VK_NV_fragment_coverage_to_color, enabled=0
[Vulkan init] extensions: name=VK_NV_framebuffer_mixed_samples, enabled=0
[Vulkan init] extensions: name=VK_NV_geometry_shader_passthrough, enabled=0
[Vulkan init] extensions: name=VK_NV_sample_mask_override_coverage, enabled=0
[Vulkan init] extensions: name=VK_NV_shader_subgroup_partitioned, enabled=0
[Vulkan init] extensions: name=VK_NV_viewport_array2, enabled=0
[Vulkan init] extensions: name=VK_NV_viewport_swizzle, enabled=0
[Vulkan init] extensions: name=VK_NVX_device_generated_commands, enabled=0
[Vulkan init] extensions: name=VK_NVX_multiview_per_view_attributes, enabled=0
[Vulkan init] extensions: name=VK_NV_ray_tracing, enabled=0
Vulkan API version 1.1.0 (1.1.95 supported by driver)
Vulkan vendor=[NVIDIA] id=[10de]
Vulkan renderer=[Tesla V100-SXM2-16GB] id=[1db1]
Vulkan device type 2
Vulkan driverversion=[0x689f8080] uint=[1755283584]
Vulkan PSO: cache data not found [path=/tmp/NVIDIA/IsaacSim Unity3D/vulkan_pso_cache.bin]
Caught fatal signal - signo:11 code:1 errno:0 addr:(nil)
Obtained 11 stack frames.
#0 0x007f9c0bfa78f9 in DisplayManagerVK::Initialize()
#1 0x007f9c0bfafde7 in CreateVKGfxDevice()
#2 0x007f9c0c3a7aaf in CreateRealGfxDevice(GfxDeviceRenderer)
#3 0x007f9c0bf22fbe in CreateClientGfxDevice(GfxDeviceRenderer, GfxCreateDeviceFlags)
#4 0x007f9c0c3a83a7 in CreateGfxDevice(GfxDeviceRenderer, GfxCreateDeviceFlags)
#5 0x007f9c0c3a8731 in InitializeGfxDevice()
#6 0x007f9c0c296376 in InitializeEngineGraphics(bool)
#7 0x007f9c0c2a62a0 in PlayerInitEngineGraphics(bool)
#8 0x007f9c0c437b37 in PlayerMain(int, char**)
#9 0x007f9c0ad07b97 in __libc_start_main
#10 0x00000000400569 in _start
Aborted (core dumped)

The target is DGX1. I’m using it remotely via SSH and Isaac is working in a container. I made the container, referring at the tutorial.
https://docs.nvidia.com/isaac/isaac/doc/getting_started.html#using-docker

below is result of " python3 engine/build/scripts/version_checker.py ".
Package |Current Version |
OS |Ubuntu 18.04.4 LTS |
Bazel |2.2.0 |
GPU_Driver |418.126.02 |
Cuda |10.0.130 |
Cudnn |7.6.3.30 |
TensorFlow |1.15.0 |
pycapnp |0.6.4 |
librosa |0.7.2 |
SoundFile |0.10.3.post1 |
Python2 |2.7.17 |
Python3 |3.6.9 |

Thanks.

Check this out:

Desktop is 0 x 0 @ 0 Hz

in the Unity log indicates that Unity is not able to access a display

Thanks for your response, realchaq.

I check it and understand that DGX1 needs a virtual display.
For setting up a virtual display, I have to run “nvidia-setting”.
But I cannot run it because “nvidia-current” is not found.
I think that DGX-1 cannot install “nvidia-current”.

Is there another way to set up a virtual display?

the instruction to setup on DGX with headless mode is here: https://isaac.nvidia.com/master/doc/simulation/unity3d.html#running-in-headless-mode

It would be great if you let us know where you stuck/

Thanks, atorabi.

I could not open the above URL, so I referred to here: https://docs.nvidia.com/isaac/isaac/doc/simulation/unity3d.html#running-in-headless-mode

I had two problems.
One is that I cannot run GUI on Isaac docker container.
It caused in my private PC, too.
I resolve it by using below command.

docker run --mount source=isaac-sdk-build-cache,target=/root -v pwd:/src/workspace -v /tmp/.X11-unix:/tmp/.X11-unix -p 3000:3000 -e DISPLAY -w /src/workspace --runtime=nvidia --name isaac -it isaacbuild:latest /bin/bash
xhost +local:docker inspect --format='{{ .Config.Hostname }}' isaac

I think that we must set ‘xhost’ if we use docker, so it is helpful that the above settings are written here: https://docs.nvidia.com/isaac/isaac/doc/getting_started.html#using-docker

Two is that I cannot find ‘nvidia-xconfig’ command.
I will ask admin of DGX to setup ‘nvidia-xconfig’.
But I cannot retry this problem until the end of next month because I cannot use DGX.
I reply again when I check it.

Can I ask one more question?

I use another PC, DGX-Station with ssh connection.
Below message is shown when I run ‘xhost +’.

access control disabled, clients can connect from any host
xhost: must be on local machine to enable or disable access control.

This message is shown that I cannot set up ‘xhost’ with ssh connection.
So when I want to use docker, I must set up PC directly, don’t I?

You should be able to use docker on DGX through ssh connection. Issue seems to be permission. The instruction provided in the running-in-headless-mode doc uses

DISPLAY=:0 sudo xhost +