Merely keeping Isaac Sim idle (empty landing screen) pushes RTX 2080 Ti utilization to 68%. Why?

I’ve got my display attached to my internal (integrated) graphics driver, so my GPUs have no displays attached to them.

Here’s my nvidia-sim output (0%) for the Titan RTX 2080Ti, before running Isaac Sim:

(base) safdar@obelix:~/.local/share/ov/pkg/isaac_sim-2021.1.1$ nvidia-smi
Thu Oct 14 20:12:44 2021       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 470.74       Driver Version: 470.74       CUDA Version: 11.4     |
|-------------------------------+----------------------+----------------------+
| 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 TITAN Xp     Off  | 00000000:01:00.0 Off |                  N/A |
| 29%   49C    P8    11W / 250W |     11MiB / 12196MiB |      0%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
|   1  NVIDIA GeForce ...  Off  | 00000000:02:00.0 Off |                  N/A |
| 66%   60C    P8    18W / 250W |     11MiB / 11019MiB |      0%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      1700      G   /usr/lib/xorg/Xorg                  4MiB |
|    0   N/A  N/A      2436      G   /usr/lib/xorg/Xorg                  4MiB |
|    1   N/A  N/A      1700      G   /usr/lib/xorg/Xorg                  4MiB |
|    1   N/A  N/A      2436      G   /usr/lib/xorg/Xorg                  4MiB |
+-----------------------------------------------------------------------------+

I then launch isaac sim as follows:

./isaac-sim.sh --/renderer/activeGpu=2

These are the GPU ids that the app registers:

|---------------------------------------------------------------------------------------------|
| Driver Version: 470.74      | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | Intel(R) UHD Graphics 630 (CFL.. |        |     | 48145   MB | 8086      | 0          |
|     |                                  |        |     |            | 3e92      | 512aef43.. |
|---------------------------------------------------------------------------------------------|
| 1   | NVIDIA TITAN Xp                  |        |     | 12534   MB | 10de      | 0          |
|     |                                  |        |     |            | 1b02      | d469296d.. |
|---------------------------------------------------------------------------------------------|
| 2   | NVIDIA GeForce RTX 2080 Ti       | Yes    |     | 11510   MB | 10de      | 0          |
|     |                                  |        |     |            | 1e04      | 90af1795.. |
|=============================================================================================|
| OS: Linux obelix, Version: 5.11.0-37-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12009000 (1.20.9.0)
| Processor: Intel(R) Core(TM) i7-8086K CPU @ 4.00GHz | Cores: Unknown | Logical: 12
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64193 | Free Memory: 55778
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|

The app launches alright, but sits on a “… RTX Loading …” message for a minute, before letting me click on anything.

Then, even if I just leave the app on the landing screen, as shown here:

… the nvidia-sim output shows a consistent 68% utilization on the RTX 2080 Ti going forward, and the GPU fan runs loud too:

(base) safdar@obelix:~/.local/share/ov/pkg/isaac_sim-2021.1.1$ nvidia-smi
Thu Oct 14 20:04:36 2021       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 470.74       Driver Version: 470.74       CUDA Version: 11.4     |
|-------------------------------+----------------------+----------------------+
| 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 TITAN Xp     Off  | 00000000:01:00.0 Off |                  N/A |
| 26%   46C    P8    11W / 250W |    112MiB / 12196MiB |      0%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
|   1  NVIDIA GeForce ...  Off  | 00000000:02:00.0 Off |                  N/A |
| 65%   66C    P2   153W / 250W |   2789MiB / 11019MiB |     68%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      1700      G   /usr/lib/xorg/Xorg                  4MiB |
|    0   N/A  N/A      2436      G   /usr/lib/xorg/Xorg                  4MiB |
|    0   N/A  N/A     10945    C+G   ./kit/kit                          97MiB |
|    1   N/A  N/A      1700      G   /usr/lib/xorg/Xorg                  4MiB |
|    1   N/A  N/A      2436      G   /usr/lib/xorg/Xorg                 60MiB |
|    1   N/A  N/A     10945    C+G   ./kit/kit                        2716MiB |
+-----------------------------------------------------------------------------+

Here’s my shell output:

(base) safdar@obelix:~/.local/share/ov/pkg/isaac_sim-2021.1.1$ ./isaac-sim.sh --/renderer/activeGpu=2
[Info] [carb] Logging to file: /home/safdar/.nvidia-omniverse/logs/Kit/Isaac-Sim/2021.1/kit_20211014_201809.log
[Info] [carb] Initializing plugin: carb.events.plugin (interfaces: [carb::events::IEvents v0.2]) (impl: carb.events.plugin)
[0.009s] Loading user config located at: '/home/safdar/.local/share/ov/data/Kit/Isaac-Sim/2021.1/user.config.json'
2021-10-15 03:18:09 [76ms] [Warning] [omni.ext.plugin] Extension with the same id is already registered. ext_id: 'omni.kit.xr-1.0.0', ext 1: '/home/safdar/.local/share/ov/pkg/isaac_sim-2021.1.1/kit/exts/omni.kit.xr', ext 2: '/home/safdar/.local/share/ov/pkg/isaac_sim-2021.1.1/kit/extscore/omni.kit.xr'
[0.090s] [ext: omni.usd.config-1.0.0] startup
[0.091s] [ext: omni.usd.libs-1.0.0] startup
[0.269s] [ext: omni.kit.pipapi-0.0.0] startup
[0.274s] [ext: omni.usd.schema.semantics-0.0.0] startup
[0.277s] [ext: omni.usd.schema.audio-0.0.0] startup
[0.279s] [ext: omni.hydra.iray-0.1.0] startup
[0.283s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.287s] [ext: omni.kit.loop-default-0.1.0] startup
[0.287s] [ext: omni.kit.async_engine-0.0.0] startup
[0.297s] [ext: omni.stats-0.0.0] startup
[0.299s] [ext: omni.assets.plugins-0.0.0] startup
[0.301s] [ext: omni.appwindow-1.0.0] startup
[0.311s] [ext: omni.client-0.1.0] startup
[0.320s] [ext: omni.kit.test-0.0.0] startup
[0.331s] [ext: omni.kit.renderer.core-0.0.0] startup
INTEL-MESA: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

2021-10-15 03:18:10 [398ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-RTX GPU: NVIDIA TITAN Xp
2021-10-15 03:18:10 [398ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-RTX GPU: NVIDIA TITAN Xp

|---------------------------------------------------------------------------------------------|
| Driver Version: 470.74      | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | Intel(R) UHD Graphics 630 (CFL.. |        |     | 48145   MB | 8086      | 0          |
|     |                                  |        |     |            | 3e92      | 512aef43.. |
|---------------------------------------------------------------------------------------------|
| 1   | NVIDIA TITAN Xp                  |        |     | 12534   MB | 10de      | 0          |
|     |                                  |        |     |            | 1b02      | d469296d.. |
|---------------------------------------------------------------------------------------------|
| 2   | NVIDIA GeForce RTX 2080 Ti       | Yes    |     | 11510   MB | 10de      | 0          |
|     |                                  |        |     |            | 1e04      | 90af1795.. |
|=============================================================================================|
| OS: Linux obelix, Version: 5.11.0-37-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12009000 (1.20.9.0)
| Processor: Intel(R) Core(TM) i7-8086K CPU @ 4.00GHz | Cores: Unknown | Logical: 12
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64193 | Free Memory: 55658
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
[1.039s] [ext: omni.ui-2.1.8] startup
[1.056s] [ext: omni.kit.mainwindow-0.0.0] startup
[1.058s] [ext: omni.kit.uiapp-0.0.0] startup
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[1.430s] [ext: omni.kit.window.viewport-0.0.0] startup
2021-10-15 03:18:11 [1,426ms] [Warning] [omni.ext.plugin] [ext: omni.kit.window.viewport-0.0.0] '/home/safdar/.local/share/ov/pkg/isaac_sim-2021.1.1/kit/plugins/rtx/rtx.reshade.plugin' in '[[native.plugin]]' was not found.
2021-10-15 03:18:11 [1,925ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSampling.Available.
2021-10-15 03:18:11 [1,925ms] [Warning] [rtx.postprocessing.plugin] NGX does not have DLSS feature. Check nvngx_dlss.dll is available.
2021-10-15 03:18:11 [1,925ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled.
2021-10-15 03:18:12 [2,225ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [rtx::raytracing::Subsurface v0.1] (plugin: rtx.raytracing.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
[2.504s] [ext: omni.services.core-1.1.0] startup
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[2.605s] [ext: omni.services.transport.server.base-1.0.0] startup
[2.607s] [ext: omni.services.client-0.2.0] startup
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[2.674s] [ext: omni.kit.agent-0.1.0] startup
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[2.948s] [ext: omni.kit.window.filepicker-2.3.1] startup
[2.991s] [ext: omni.isaac.contact_sensor-0.1.0] startup
[2.997s] [ext: omni.debugdraw-0.0.0] startup
[3.001s] [ext: omni.syntheticdata-0.1.5] startup
[3.065s] [ext: omni.isaac.dynamic_control-0.1.3] startup
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[3.105s] [ext: omni.isaac.ros_bridge-0.1.0] startup
Checking if ROS_MASTER_URI is set: 
Found ROS_MASTER_URI= http://localhost:11311
[3.198s] [ext: omni.kit.window.file-1.2.2] startup
[3.253s] [ext: omni.kit.window.property-0.0.0] startup
[3.258s] [ext: omni.isaac.occupancy_map-0.1.0] startup
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[3.399s] [ext: omni.kit.property.physx-0.1.0] startup
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[3.451s] [ext: omni.isaac.window.about-1.0.0] startup
[3.456s] [ext: omni.physx.vehicle-1.2.0-5.1] startup
[3.469s] [ext: omni.command.usd-1.0.1] startup
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[3.481s] [ext: omni.kit.widget.stage_icons-1.0.1] startup
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[3.502s] [ext: omni.kit.menu.select-1.0.0] startup
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[3.511s] [ext: omni.kit.window.stage-2.3.3] startup
[3.519s] [ext: omni.kit.property.layer-1.1.0] startup
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[3.534s] [ext: omni.kit.thumbnails.usd-0.3.0] startup
[3.570s] [ext: omni.kit.property.isaac-0.1.0] startup
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[3.588s] [ext: omni.kit.property.camera-1.0.3] startup
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[3.602s] [ext: omni.kit.property.light-1.0.4] startup
[3.609s] [ext: omni.kit.property.transform-1.0.2] startup
[3.616s] [ext: omni.kit.window.console-0.0.0] startup
[3.619s] [ext: omni.kit.asset_converter-1.1.22] startup
[3.638s] [ext: omni.kit.primitive.mesh-1.0.0] startup
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[3.712s] [ext: omni.kit.property.bundle-1.2.4] startup
[3.719s] [ext: omni.kit.window.usd_paths-1.0.3] startup
[3.727s] [ext: omni.isaac.shapenet-1.0.0] startup
env var SHAPENET_LOCAL_DIR not set, using default data dir /home/safdar/.local/share/ov/data/Kit/Isaac-Sim/2021.1/shapenet
omni.isaac.shapenet's receiver for external messages has started. on ('localhost', '7011')
[3.771s] [ext: semantics.schema.editor-0.1.3] startup
[3.773s] [ext: omni.isaac.tests-0.0.0] startup
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[3.827s] [ext: omni.graph-1.0.0] startup
[3.871s] [ext: omni.isaac.dr-0.1.6] startup
[3.881s] [ext: omni.kit.widget.live-0.0.0] startup
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[3.889s] [ext: omni.kit.window.imageviewer-1.0.3] startup
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[3.963s] [ext: omni.kit.window.cursor-1.0.1] startup
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[3.982s] [ext: omni.kit.window.status_bar-0.0.0] startup
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[4.152s] [ext: omni.isaac.robot_engine_bridge_ui-0.1.0] startup
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[4.168s] [ext: omni.isaac.motion_planning-0.1.4] startup
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[4.199s] [ext: omni.isaac.step_importer-0.1.1] startup
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[4.540s] [ext: omni.isaac.samples-0.1.6] startup
2021-10-15 03:18:14 [4,595ms] [Warning] [carb.python] default server omniverse://localhost does not have /Isaac folder
2021-10-15 03:18:14 [4,595ms] [Warning] [carb.python] /isaac/nucleus/default not specified in json config or via --/isaac/nucleus/default="omniverse://my-nucleus-server" command line
2021-10-15 03:18:14 [4,595ms] [Warning] [carb.python] Attempting to locate server from previously saved servers...
2021-10-15 03:18:14 [4,595ms] [Warning] [carb.python] /persistent/app/omniverse/savedServers setting not found
2021-10-15 03:18:14 [4,596ms] [Warning] [carb.python] Server omniverse://localhost does not have /Isaac folder
2021-10-15 03:18:14 [4,596ms] [Warning] [carb.python] No saved server contains /Isaac folder
2021-10-15 03:18:14 [4,596ms] [Error] [carb.python] Could not find nucleus server with /Isaac folder
[4.606s] [ext: omni.kit.selection-0.0.0] startup
[4.614s] [ext: omni.ansel-0.2.0] startup
2021-10-15 03:18:14 [4,606ms] [Warning] [omni.ext.plugin] [ext: omni.ansel-0.2.0] Failed to load plugins, folder doesn't exist: '/home/safdar/.local/share/ov/pkg/isaac_sim-2021.1.1/kit/exts/omni.ansel/bin'.
2021-10-15 03:18:14 [4,606ms] [Warning] [omni.ext.plugin] [ext: omni.ansel-0.2.0] '/home/safdar/.local/share/ov/pkg/isaac_sim-2021.1.1/kit/exts/omni.ansel/bin/*.plugin' in '[[native.plugin]]' was not found.
[4.621s] [ext: omni.kit.window.extensions-1.0.2] startup
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[4.686s] [ext: omni.kit.window.profiler-1.0.0] startup
[4.696s] [ext: omni.isaac.utils_manager-0.1.0] startup
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[4.725s] [ext: omni.isaac.sim.base-2021.1.1] startup
[4.725s] [ext: omni.isaac.sim-2021.1.1] startup
[4.725s] app started
INTEL-MESA: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

INTEL-MESA: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

Isaac Sim App is loaded.
Checking for Isaac Sim assets on nucleus server
2021-10-15 03:18:41 [31,738ms] [Warning] [carb.python] default server omniverse://localhost does not have /Isaac folder
2021-10-15 03:18:41 [31,738ms] [Warning] [carb.python] /isaac/nucleus/default not specified in json config or via --/isaac/nucleus/default="omniverse://my-nucleus-server" command line
2021-10-15 03:18:41 [31,738ms] [Warning] [carb.python] Attempting to locate server from previously saved servers...
2021-10-15 03:18:41 [31,738ms] [Warning] [carb.python] /persistent/app/omniverse/savedServers setting not found
2021-10-15 03:18:41 [31,738ms] [Warning] [carb.python] Server omniverse://localhost does not have /Isaac folder
2021-10-15 03:18:41 [31,738ms] [Warning] [carb.python] No saved server contains /Isaac folder

If the consumption is so high on an empty landing screen, I can’t imagine what it will be when I’m actually running a simulation. Is this normal? I haven’t loaded/imported anything yet, and no other process is using the GPU, except the ones shown above. Why is the utilization so high?

Hi, from the nvidia-smi output, it looks like you are running two instances of Isaac Sim. Can you confirm only one instance of Isaac Sim is running and idle?

Do you see any difference if you plug in the monitor into the 2080Ti?