Isaac Sim x86_64 headless docker WSL2 support

dcasota · January 8, 2024, 10:36pm

Hi,

I’m doing a Isaac Sim proof of technology using headless docker.

Accordingly to Isaac Sim + orbit container on A100 - Omniverse / Isaac Sim - NVIDIA Developer Forums, issue(s) will headless are known.

Regarding the GLFW initialization failure, this is actually expected since Isaac Sim’s current version doesn’t support headless operation, meaning a viable display system is required even when running without window. If you’re running it on a server, a workaround would be to use a virtual frame buffer like xvfb to trick the system into thinking it has a display.

Question1: xvfb support varies per Linux distro. Any recommendation for a xvfb rpm package which works on systemd?

The GPU environment is Photon OS 5.0 on x86_64 WSL2. Windows nvidia-smi shows up the configured GeForce RTX 4070 GPU. The setup works flawlessly e.g. for LLM purposes.

For Isaac Sim runheadless.websocket.sh is used as entrypoint.

docker pull nvcr.io/nvidia/isaac-sim:2023.1.1
docker run --name isaac-sim --entrypoint runheadless.websocket.sh -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host -e "PRIVACY_CONSENT=Y" nvcr.io/nvidia/isaac-sim:2023.1.1

The startup fails because carb.windowing.plugins-1.0.0’ initialization fails.

Question 2: Beside xvfb, are there any further challenges to be expected?

[0.881s] [ext: omni.gpu_foundation-0.0.0] startup
[0.895s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup
[0.898s] [ext: carb.windowing.plugins-1.0.0] startup
2024-01-08 21:48:38 [871ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2024-01-08 21:48:38 [872ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.4]) (impl: carb.windowing-glfw.plugin)
[0.899s] [ext: omni.kit.renderer.init-0.0.0] startup
2024-01-08 21:48:38 [878ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
2024-01-08 21:48:38 [885ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2024-01-08 21:48:38 [885ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2024-01-08 21:48:38 [885ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2024-01-08 21:48:48 [11,004ms] [Error] [carb.launcher.plugin] [parent]: timed out waiting for the child process 46 to exec {errno = -1/Unknown error -1}
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin] failed to fork the child process {errno = -1/Unknown error -1, lastErrno = 11/Resource temporarily unavailable}
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin] launch descriptor for '/usr/bin/nvidia-smi' (1 arguments)
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin]     cmd: /usr/bin/nvidia-smi
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin]     onReadStdout = 0x7f748ee11ee0
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin]     onReadStderr = 0x7f748ee11ee0
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin]     readStdoutContext = 0x7f75101f9a90
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin]     readStderrContext = 0x7f75101f9a50
2024-01-08 21:48:48 [11,005ms] [Error] [carb.launcher.plugin]     interpreter = 'bash'
2024-01-08 21:48:48 [11,005ms] [Warning] [carb.launcher.plugin] failed to launch the new process.
2024-01-08 21:48:48 [11,005ms] [Warning] [gpu.foundation.plugin] Process '/usr/bin/nvidia-smi': not launched.
2024-01-08 21:48:48 [11,005ms] [Warning] [gpu.foundation.plugin] nvidia-smi output not available.
2024-01-08 21:48:48 [11,011ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2024-01-08 21:48:48 [11,011ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2024-01-08 21:48:48 [11,011ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin] [parent]: timed out waiting for the child process 47 to exec {errno = -1/Unknown error -1}
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin] failed to fork the child process {errno = -1/Unknown error -1, lastErrno = 11/Resource temporarily unavailable}
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin] launch descriptor for '/usr/bin/nvidia-smi' (1 arguments)
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin]     cmd: /usr/bin/nvidia-smi
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin]     onReadStdout = 0x7f748ee11ee0
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin]     onReadStderr = 0x7f748ee11ee0
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin]     readStdoutContext = 0x7f751bfffa90
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin]     readStderrContext = 0x7f751bfffa50
2024-01-08 21:48:58 [21,155ms] [Error] [carb.launcher.plugin]     interpreter = 'bash'
2024-01-08 21:48:58 [21,155ms] [Warning] [carb.launcher.plugin] failed to launch the new process.
2024-01-08 21:48:58 [21,155ms] [Warning] [gpu.foundation.plugin] Process '/usr/bin/nvidia-smi': not launched.
2024-01-08 21:48:58 [21,155ms] [Warning] [gpu.foundation.plugin] nvidia-smi output not available.
2024-01-08 21:48:58 [21,156ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.

nvidia-smi works flawlessly in WSL2. Configuring sudo ln -sf /mnt/c/Drivers/Nvidia_GFX/Display.Driver/nvidia-smi /usr/bin/nvidia-smi didn’t help to get detected during carb.windowing.plugins-1.0.0 startup phase.

+---------------------------------------------------------------------------------------+
| Processes:                                                                            |
|  GPU   GI   CI        PID   Type   Process name                            GPU Memory |
|        ID   ID                                                             Usage      |
|=======================================================================================|
|  No running processes found                                                           |
+---------------------------------------------------------------------------------------+
root@yourpc:/isaac-sim# /usr/bin/nvidia-smi
Mon Jan  8 20:49:56 2024
+---------------------------------------------------------------------------------------+
| NVIDIA-SMI 545.36                 Driver Version: 546.33       CUDA Version: 12.3     |
|-----------------------------------------+----------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |         Memory-Usage | GPU-Util  Compute M. |
|                                         |                      |               MIG M. |
|=========================================+======================+======================|
|   0  NVIDIA GeForce RTX 4070 ...    On  | 00000000:01:00.0 Off |                  N/A |
| N/A   49C    P8               1W /  55W |    121MiB /  8188MiB |      0%      Default |
|                                         |                      |                  N/A |
+-----------------------------------------+----------------------+----------------------+

+---------------------------------------------------------------------------------------+
| Processes:                                                                            |
|  GPU   GI   CI        PID   Type   Process name                            GPU Memory |
|        ID   ID                                                             Usage      |
|=======================================================================================|
|  No running processes found                                                           |
+---------------------------------------------------------------------------------------+

edited:
For Xvfb testing purposes, I’m using a few Fedora bits.

sudo tdnf install -y pixman libxkbcommon libxkbcommon-x11 libxt audit libunwind libxfont2 libglvnd-glx

curl -J -L -O https://kojipkgs.fedoraproject.org//packages/xkbcomp/1.4.6/7.eln133/x86_64/xkbcomp-1.4.6-7.eln133.x86_64.rpm
curl -J -L -O https://kojipkgs.fedoraproject.org//packages/libxkbfile/1.1.2/1.eln133/x86_64/libxkbfile-1.1.2-1.eln133.x86_64.rpm
curl -J -L -O https://kojipkgs.fedoraproject.org//packages/xkeyboard-config/2.40/2.eln133/noarch/xkeyboard-config-2.40-2.eln133.noarch.rpm
curl -J -L -O https://kojipkgs.fedoraproject.org//packages/xorg-x11-server/1.20.14/26.fc38/x86_64/xorg-x11-server-Xvfb-1.20.14-26.fc38.x86_64.rpm
curl -J -L -O https://kojipkgs.fedoraproject.org//packages/libXmu/1.1.4/1.fc38/x86_64/libXmu-1.1.4-1.fc38.x86_64.rpm
curl -J -L -O https://kojipkgs.fedoraproject.org//packages/xorg-x11-xauth/1.1.1/2.fc36/x86_64/xorg-x11-xauth-1.1.1-2.fc36.x86_64.rpm
curl -J -L -O https://kojipkgs.fedoraproject.org//packages/mesa/22.1.7/1.fc36/x86_64/mesa-libglapi-22.1.7-1.fc36.x86_64.rpm

sudo rpm -ivh libxkbfile-1.1.2-1.eln133.x86_64.rpm
sudo rpm -ivh xkbcomp-1.4.6-7.eln133.x86_64.rpm
sudo rpm -ivh xkeyboard-config-2.40-2.eln133.noarch.rpm
sudo rpm -ivh xorg-x11-server-common-1.20.14-26.fc38.x86_64.rpm
sudo rpm -ivh libXmu-1.1.4-1.fc38.x86_64.rpm
sudo rpm -ivh xorg-x11-xauth-1.1.1-2.fc36.x86_64.rpm
sudo rpm -ivh mesa-libglapi-22.1.7-1.fc36.x86_64.rpm
sudo rpm -ivh xorg-x11-server-Xvfb-1.20.14-1.fc36.x86_64.rpm

/bin/Xvfb --help

After a few retries with /bin/Xvfb :99 -ac &, export DISPLAY=:99 and docker [...] -e DISPLAY=$DISPLAY [...] I think the limitation comes from carb.windowing-glfw.plugin.

This warning appears first.

[Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.

The implemented version from GitHub - glfw/glfw: A multi-platform library for OpenGL, OpenGL ES, Vulkan, window and input might be outdated.

Sheikh_Dawood · January 12, 2024, 3:25pm

Hi. We currently do not support WSL2 and Xvfb. We require Vulkan on Linux.

dcasota · January 15, 2024, 10:34pm

Hi,
How to check the functionality of vulkan for the Isaac Sim container? The docs Isaac Sim | NVIDIA NGC do not explicitly refer to vulkan. vulkansdk x86_64-1.3.268.0 is installed and vulkaninfo is available.

I’ve used the recommended docker parameters for Isaac Sim container.

docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
     -e "PRIVACY_CONSENT=Y" \
     -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
     -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
     -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
     -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
     -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
     -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
     -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
     -v ~/docker/isaac-sim/documents:/root/Documents:rw \
     nvcr.io/nvidia/isaac-sim:2023.1.1

Sheikh_Dawood · January 16, 2024, 5:33pm

Hi. Vulkan in used by the Hydra Engine for RTX rendering in our Kit SDK.

Currently, Vulkan is not supported on WSL.

system · February 8, 2024, 10:56pm

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Isaac Sim x86_64 headless docker WSL2 support

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