Isaacsim.Replicator.Agent extension crashes on RTX A6000 GPU

[Vulcan.Shao]

Isaac Sim Version

[✅] 4.5.0

Operating System

[✅] Ubuntu 22.04

GPU Information

• Model: A6000 x2
• Driver Version: try from 535 to 565

Topic Description

Detailed Description

I am glad to see that Agent Simulation has a major update. Thanks for providing such a good simulation platform.
In order to do more intelligent human-robot interaction training, I need this Isaacsim.Replicator.Agent extension to work well. So I deployed the latest Isaac Sim 4.5.0 on the 2-card A6000 server and tried to use this extension.
I have read the documentation:
Agent Simulation Synthetic Data Generation — Isaac Sim Documentation
I can successfully run the extension on my other laptop Ubuntu RTX 4060 desktop, windows RTX 4070 super and Windows RTX 4060, as shown in the video below.

But it can’t run on A6000. As long as you click play, isaac sim will crash.
I thought it was a driver version issue, so I tried different versions of the driver, from 535 to 565, but all failed.
The log and video are as follows.
isaac_sim_crash.zip (941.3 KB)

(And I really hope that this extension can be used in Isaac Lab, because dynamic pedestrians are very helpful for training robots to be more friendly to people.
[Question] Can animation graph be used in Isaac Lab? · Issue #2078 · isaac-sim/IsaacLab)
Thank you.

[604441296]

Same problem, does anyone can help?

[jiajunl]

Hi,

Thanks for using IsaacSim.Replicator.Agent!

The log indicates that crash happened during applying the animation graph in Biped_Setup to each character.
Could you check if references/payloads for all animations are valid under /World/Characters/Biped_Setup/Animation?

If possible, please also do a quick test by removing all characters but leaving Biped_Setup (or simply open a new scene and drag in Biped_Setup), then hit play and see if crash persists.

[Vulcan.Shao]

Thank you very much for your reply. According to your suggestion, I have made the following attempts for your reference.

1. references/payloads for all animations are valid:
   Screenshot from 2025-03-24 10-28-56|690x388
2. removing Biped_Setup then click play no crash:
   
   
3. removing all characters but leaving Biped_Setup then click play no crash:
   
   
4. simply open a new scene and drag in Biped_Setup then click play no crash:
   
   

[jiajunl]

Thank you so much for trying the steps, the results show that animation graph is not likely the cause.

Could you also try the following:
After Set Up Simulation, on the spawned characters, go to their SkelRoot prim, and check in the Property window if the Python Scripting components point to a valid script.

If the script is inavlid, please go to Windows->Extensions and search omni.anim.people, then click on the folder icon, it will take you to that extension source in your local directory. Then locate:

[omni.anim.people local dir]/omni/anim/people/scripts/character_behavior.py

Apply that script path to spawned characters and click play again. Essentially this is one of the processes Set Up Simualtion does under the hood.

Notes: Please make sure all characters have valid scripts. And if crash is gone but characters do not move, please save as the stage and reopen it.

[Vulcan.Shao]

I checked the property window and Python Script path of SkelRoot for characters and found it to be correct. Even after deleting other characters, the run still crashes.

I guessed it was still an issue with the animation graph, so I ran the people demo example. In the

Isaac/4.5/Isaac/Samples/PeopleDemo/SimpleEventSimulation

directory, the characters in it were no longer mounted with Python script, but when click play still crash…

Crash logs as follows:
isaac_sim_crash.zip (867.7 KB)

[jiajunl]

Thank you so much for trying more steps. Do you mind doing the following:

Open a new scene, drag in the Biped_Setup and a character, then assign Biped_Setup’s animation graph to the character’s SkelRoot(tutorial here).

If it still crashes, then it basically confirms that it is an animation graph only issue. I will get help from their team.

BTW, did you open SimpleEventSimulation by opening stage in the editor window or through Set Up Simulation in AgentSDG window? The later will auto assign anim graph and python script to each character.

[Vulcan.Shao]

I tried using Animation Graphs alone and it didn’t crash, although there seemed to be some issues with the animation. After changing the character, it worked better

I opened the SimpleEventSimulation example directly in the editor window without using Set Up Simulation, So I didn’t see any Python scripts on the characters.
So, what could be the problem?

[jiajunl]

• Opening SimpleEventSimulation directly with eidtor is the right way, thanks for confirming.

• For the animation issue, it is probabaly due to the character not being retargeted (see Animation Retargeting — Omniverse Extensions). Could you follow the doc and make sure both Biped_Setup and the charcter are properly retargeted?

• What happens during Set Up Sim is when scene is loaded, it loads Biped_Setup and a number of characters from the Character Asset Path, assign python script and animation graph to each one. Maybe doing the aboves steps manually may reveal the crash root cause?

• One more thing to try is to set Character Asset Path to this: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/People/Characters/. I tested them and they did not crash.

We are truly thankful for your efforts. We haven’t found a way to reproduce it so all your feedback is important to us.