Isaac Sim Unity3d Sample is aborted

Autonomous Machines Robotics - Isaac Isaac SDK
1

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.

2

Check this out:

Desktop is 0 x 0 @ 0 Hz

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

3

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?

4

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/

5

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.

6

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?

7

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 +

8

Thanks for your response, qianl.

I set up DGX-Station with to refer the running-in-headless-mode doc.
But Below message is shown when I run sample sim.

Set current directory to /src/workspace/isaac_sim/builds
Found path: /src/workspace/isaac_sim/builds/sample.x86_64
Mono path[0] = ‘/src/workspace/isaac_sim/builds/sample_Data/Managed’
Mono config path = ‘/src/workspace/isaac_sim/builds/sample_Data/MonoBleedingEdge/etc’
Preloaded ‘libSubstance.Engine.so’
Preloaded ‘libsubstance_sse2_blend.so’
Display 0 ‘LCD-MF273ED 27"’: 1920x1080 (primary device).
Unable to load player prefs
Desktop is 1920 x 1080 @ 60 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
The NVIDIA driver was unable to open ‘libnvidia-glvkspirv.so.410.129’. This library is required at run time.

Caught fatal signal - signo:11 code:1 errno:0 addr:(nil)
Obtained 1 stack frames.
#0 (nil) in (Unknown)
Aborted (core dumped)

This message indicates that the virtual display has been successfully configured.
How can I set up libnvidia-glvkspirv.so?

9

This should be in /usr/lib/x86_64-linux-gnu/. Could you run
locate libnvidia-glvkspirv.so
outside docker and see if you have it?
I also notice it’s using nvidia driver 410, while isaac needs 418 driver. You need to upgrade the DGX station to OS release 4.3.0

10

Thanks for your response, qianl.

I checked libnvidia-glvkspirv.so is located in /usr/lib/x86_64-linux-gnu/.
And I upgrade the DGX station to OS release 4.5.0 by DGX OS 4 Desktop Software Release Notes :: DGX Systems Documentation.

The sample is not aborted, but it is not launched.
Below message is shown when I run sample sim.

Set current directory to /src/workspace/isaac_sim/builds
Found path: /src/workspace/isaac_sim/builds/sample.x86_64
Mono path[0] = ‘/src/workspace/isaac_sim/builds/sample_Data/Managed’
Mono config path = ‘/src/workspace/isaac_sim/builds/sample_Data/MonoBleedingEdge/etc’
Preloaded ‘libSubstance.Engine.so’
Preloaded ‘libsubstance_sse2_blend.so’
Display 0 ‘LCD-MF273ED 27"’: 1920x1080 (primary device).
Desktop is 1920 x 1080 @ 60 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 /src/workspace/isaac_sim/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-DGXS-32GB] id=[1db7]
Vulkan device type 2
Vulkan driverversion=[0x68a60000] uint=[1755709440]
Vulkan PSO: cache data not found [path=/tmp/NVIDIA/IsaacSim Unity3D/vulkan_pso_cache.bin]
ALSA lib confmisc.c:767:(parse_card) cannot find card ‘0’
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
FMOD failed to initialize the output device.: "Error initializing output device. " (60)
(Filename: Line: 1489)

Forced to initialize FMOD to to the device driver’s system output rate 48000, this may impact performance and/or give inconsistent experiences compared to selected sample rate 48000
(Filename: Line: 1425)

ALSA lib confmisc.c:767:(parse_card) cannot find card ‘0’
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
FMOD failed to initialize the output device.: "Error initializing output device. " (60)
(Filename: Line: 1489)

FMOD failed to initialize any audio devices, running on emulated software output with no sound. Please check your audio drivers and/or hardware for malfunction.
Begin MonoManager ReloadAssembly

  • Completed reload, in 0.096 seconds
    requesting resize 1280 x 720
    resizing window to 1280 x 720
    Desktop is 1920 x 1080 @ 60 Hz
    InitializeOrResetSwapChain 1280x720 hdr=0 samples=1
    UnloadTime: 0.616043 ms
    Plugins: Couldn’t open libdl, error: libdl: cannot open shared object file: No such file or directory
    (Filename: Line: 306)

Plugins: Couldn’t open libdl, error: libdl: cannot open shared object file: No such file or directory
(Filename: Line: 306)

Loaded the native library
(Filename: ./Runtime/Export/Debug/Debug.bindings.h Line: 35)

2020-07-22 03:39:21.848 WARN engine/alice/backend/application_json_loader.cpp@174: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system’s abilities if possible.
2020-07-22 03:39:21.848 INFO engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2020-07-22 03:39:21.848 WARN engine/alice/backend/backend.cpp@201: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2020-07-22 03:39:21.848 WARN engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 40 remaining cores. This may be non optimal for the system and application.
2020-07-22 03:39:21.848 INFO engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2020-07-22 03:39:21.848 INFO engine/gems/scheduler/scheduler.cpp@299: BlockerGroup: Cores = [30, 31, 32, 33, 34, 35, 36, 37, 38, 39], Workers = No
2020-07-22 03:39:21.848 INFO engine/gems/scheduler/scheduler.cpp@299: WorkerGroup: Cores = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], Workers = Yes
2020-07-22 03:39:21.849 DEBUG engine/alice/application.cpp@348: Loaded 44 components: isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseFromFile, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToFile, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::PoseTreeRelink, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber,
2020-07-22 03:39:21.850 INFO engine/alice/application.cpp@255: Starting application ‘navsim’ (instance UUID: ‘ee35afac-cbcc-11ea-9766-0f655cd87226’) …
2020-07-22 03:39:21.850 DEBUG engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2020-07-22 03:39:21.850 DEBUG engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2020-07-22 03:39:21.851 DEBUG engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2020-07-22 03:39:21.851 DEBUG engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2020-07-22 03:39:21.851 INFO engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2020-07-22 03:39:21.852 WARN engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2020-07-22 03:39:21.852 WARN engine/alice/backend/codelet_canister.cpp@225: Codelet ‘_check_operating_system/isaac.alice.CheckOperatingSystem’ was not added to scheduler because no tick method is specified.
2020-07-22 03:39:21.852 WARN engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2020-07-22 03:39:21.852 WARN engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2020-07-22 03:39:21.853 WARN engine/alice/backend/codelet_canister.cpp@225: Codelet ‘navsim/input’ was not added to scheduler because no tick method is specified.
2020-07-22 03:39:21.853 INFO engine/alice/components/TcpPublisher.cpp@75: Starting TCP publisher on port 55000
2020-07-22 03:39:21.853 INFO engine/alice/components/TcpSubscriber.cpp@140: TCP receiver trying to connect to remote (localhost:55001)…
2020-07-22 03:39:21.853 WARN engine/alice/backend/codelet_canister.cpp@225: Codelet ‘navsim/output’ was not added to scheduler because no tick method is specified.
2020-07-22 03:39:21.853 WARN engine/alice/backend/codelet_canister.cpp@225: Codelet ‘navsim/time_sync’ was not added to scheduler because no tick method is specified.
2020-07-22 03:39:21.853 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
Couldn’t create a Convex Mesh from source mesh “Box01” within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.
(Filename: Line: 95)

Couldn’t create a Convex Mesh from source mesh “trashbag” within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.
(Filename: Line: 95)

Couldn’t create a Convex Mesh from source mesh “Box02” within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.
(Filename: Line: 95)

Couldn’t create a Convex Mesh from source mesh “UnrealEdObject” within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.
(Filename: Line: 95)

2020-07-22 03:39:22.353 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
WARNING: Shader Unsupported: ‘Hidden/PostProcessing/FinalPass’ - Pass ‘’ has no vertex shader
WARNING: Shader Unsupported: ‘Hidden/PostProcessing/FinalPass’ - Pass ‘’ has no vertex shader
WARNING: Shader Unsupported: ‘Hidden/PostProcessing/FinalPass’ - Pass ‘’ has no vertex shader
WARNING: Shader Unsupported: ‘Hidden/PostProcessing/Uber’ - Pass ‘’ has no vertex shader
WARNING: Shader Unsupported: ‘Hidden/PostProcessing/Uber’ - Pass ‘’ has no vertex shader
Unloading 5 Unused Serialized files (Serialized files now loaded: 0)
2020-07-22 03:39:22.853 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
Setting up 20 worker threads for Enlighten.
Thread → id: 7f3200d50700 → priority: 1
Thread → id: 7f31c9549700 → priority: 1
Thread → id: 7f31c8d48700 → priority: 1
Thread → id: 7f31c3fff700 → priority: 1
Thread → id: 7f31c37fe700 → priority: 1
Thread → id: 7f31c2ffd700 → priority: 1
Thread → id: 7f31c27fc700 → priority: 1
Thread → id: 7f31c1ffb700 → priority: 1
Thread → id: 7f31c17fa700 → priority: 1
Thread → id: 7f31c0ff9700 → priority: 1
Thread → id: 7f31c07f8700 → priority: 1
Thread → id: 7f31bfff7700 → priority: 1
Thread → id: 7f31bf7f6700 → priority: 1
Thread → id: 7f31beff5700 → priority: 1
Thread → id: 7f31be7f4700 → priority: 1
Thread → id: 7f31bdff3700 → priority: 1
Thread → id: 7f31bd7f2700 → priority: 1
Thread → id: 7f31bcff1700 → priority: 1
Thread → id: 7f31bc7f0700 → priority: 1
Thread → id: 7f31ba3eb700 → priority: 1
UnloadTime: 6.146958 ms
2020-07-22 03:39:23.353 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-07-22 03:39:23.854 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-07-22 03:39:24.354 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-07-22 03:39:24.854 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-07-22 03:39:25.354 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.
2020-07-22 03:39:25.854 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.

Unloading 6 unused Assets to reduce memory usage. Loaded Objects now: 3781.
Total: 3.027240 ms (FindLiveObjects: 0.512198 ms CreateObjectMapping: 0.218716 ms MarkObjects: 2.167347 ms DeleteObjects: 0.120857 ms)

2020-07-22 03:39:26.354 WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.

WARN engine/alice/components/TcpSubscriber.cpp@165: Failed to connect to remote. Will try again in 0.500000 seconds.

The above message is repeated

This problem may be not suitabled in this topic.
Should I create a new topic?

11

Yes please open a new topic if your issue is not related to Sim Unity3d Thanks!

12

Thanks for your response, atorabi.

My first problem in this topic is that a display is not connected.
So I have to connect virtual display and set up docker.
If I use DGX, I must set up it headless mode.
I understand this problem. But I cannot launch Isaac Sim by another problem.
So I create a new topic to How can I get simulator window from Isaac Sim sample.

Thanks.