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
[1.059s] [ext: omni.usd.schema.physics-1.0.0] startup
[1.066s] [ext: omni.usd.schema.physx-0.0.0] startup
[1.083s] [ext: omni.usd.schema.anim-0.0.0] startup
[1.094s] [ext: omni.usd.schema.isaac-0.1.0] startup
[1.115s] [ext: omni.hydra.scene_delegate-0.1.0] startup
[1.127s] [ext: carb.audio-0.1.0] startup
[1.149s] [ext: omni.timeline-1.0.0] startup
[1.158s] [ext: omni.kit.commands-0.0.0] startup
[1.169s] [ext: omni.kvdb-0.0.0] startup
[1.174s] [ext: omni.usd-1.4.2] startup
[1.263s] [ext: omni.localcache-0.0.0] startup
[1.275s] [ext: omni.kit.window.drop_support-1.0.0] startup
[1.285s] [ext: omni.convexdecomposition-1.2.0] startup
[1.293s] [ext: omni.usdphysics-1.2.0] startup
[1.295s] [ext: omni.kit.menu.utils-1.0.1] startup
[1.309s] [ext: omni.physx-1.2.0-5.1] startup
[1.331s] [ext: omni.kit.material.library-1.0.4] startup
[1.340s] [ext: omni.kit.menu.create-1.0.1] startup
[1.344s] [ext: omni.renderer-rtx-0.0.0] startup
[1.345s] [ext: omni.kit.context_menu-1.1.0] startup
[1.425s] [ext: omni.hydra.rtx-0.1.0] startup
[1.428s] [ext: omni.services.facilities.base-1.0.0] startup
[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
[2.602s] [ext: omni.services.transport.client.base-1.0.0] startup
[2.605s] [ext: omni.services.transport.server.base-1.0.0] startup
[2.607s] [ext: omni.services.client-0.2.0] startup
[2.627s] [ext: omni.services.transport.server.http-1.0.0] startup
[2.674s] [ext: omni.kit.agent-0.1.0] startup
[2.676s] [ext: omni.services.transport.client.http_async-1.0.0] startup
[2.791s] [ext: omni.kit.widget.stage-2.4.0] startup
[2.797s] [ext: omni.kit.thumbnails.images-0.1.1] startup
[2.802s] [ext: omni.kit.search_core-1.0.0] startup
[2.806s] [ext: omni.kit.window.popup_dialog-2.0.0] startup
[2.810s] [ext: omni.kit.widget.path_field-2.0.2] startup
[2.816s] [ext: omni.kit.widget.filebrowser-2.2.4] startup
[2.824s] [ext: omni.kit.notification_manager-1.0.0] startup
[2.828s] [ext: omni.kit.widget.browser_bar-2.0.1] startup
[2.833s] [ext: omni.kit.window.toolbar-1.0.0] startup
[2.841s] [ext: omni.kit.numpy.common-0.1.0] startup
[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
[3.074s] [ext: omni.isaac.ros_bridge_ui-0.1.0] startup
[3.079s] [ext: omni.isaac.range_sensor-0.1.2] startup
[3.088s] [ext: omni.isaac.utils-0.1.4] startup
[3.099s] [ext: omni.kit.stage_templates-1.0.4] startup
[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
[3.269s] [ext: omni.kit.window.content_browser-2.3.1] startup
[3.311s] [ext: omni.kit.property.usd-3.9.4] startup
[3.331s] [ext: omni.kit.widget.settings-1.0.0] startup
[3.336s] [ext: omni.physx.commands-1.0.0] startup
[3.340s] [ext: omni.kit.property.material-1.6.4] startup
[3.346s] [ext: omni.kit.window.preferences-1.1.1] startup
[3.379s] [ext: omni.physx.ui-1.2.0-5.1] startup
[3.393s] [ext: omni.kit.renderer.capture-0.0.0] startup
[3.399s] [ext: omni.kit.property.physx-0.1.0] startup
[3.447s] [ext: omni.physx.demos-1.0.0] startup
[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
[3.474s] [ext: omni.physx.cct-1.2.0-5.1] startup
[3.481s] [ext: omni.kit.widget.stage_icons-1.0.1] startup
[3.487s] [ext: omni.kit.widget.layers-1.5.2] startup
[3.502s] [ext: omni.kit.menu.select-1.0.0] startup
[3.511s] [ext: omni.physx.bundle-1.2.0-5.1] startup
[3.511s] [ext: omni.kit.window.stage-2.3.3] startup
[3.519s] [ext: omni.kit.property.layer-1.1.0] startup
[3.525s] [ext: omni.kit.tool.collect-2.0.1] startup
[3.534s] [ext: omni.kit.thumbnails.usd-0.3.0] startup
[3.570s] [ext: omni.kit.property.isaac-0.1.0] startup
[3.576s] [ext: omni.kit.usd_undo-0.1.0] startup
[3.581s] [ext: omni.kit.property.audio-1.0.4] startup
[3.588s] [ext: omni.kit.property.camera-1.0.3] startup
[3.595s] [ext: omni.kit.property.geometry-1.1.0] startup
[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
[3.647s] [ext: omni.kit.window.tests-0.1.0] startup
[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
[3.779s] [ext: omni.graph.tools-1.0.0] startup
[3.791s] [ext: omni.graph.core-1.0.0] startup
[3.795s] [ext: omni.kit.widget.fast_search-0.3.0] startup
[3.802s] [ext: omni.kit.widget.graph-1.1.2] startup
[3.812s] [ext: omni.kit.widget.prompt-1.0.0] startup
[3.819s] [ext: omni.kit.widget.imageview-1.0.0] startup
[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
[3.882s] [ext: omni.rtx.window.settings-0.6.0] startup
[3.889s] [ext: omni.kit.window.imageviewer-1.0.3] startup
[3.899s] [ext: omni.graph.ui-1.0.1] startup
[3.955s] [ext: omni.kit.menu.file-1.0.2] startup
[3.963s] [ext: omni.kit.window.cursor-1.0.1] startup
[3.973s] [ext: omni.rtx.settings.core-0.5.4] startup
[3.982s] [ext: omni.kit.window.status_bar-0.0.0] startup
[3.983s] [ext: omni.kit.window.script_editor-1.5.0] startup
[3.984s] [ext: omni.videoencoding-0.0.0] startup
[3.987s] [ext: omni.kit.tagging-0.1.0] startup
[4.077s] [ext: omni.kit.widget.sliderbar-1.0.3] startup
[4.086s] [ext: omni.iray.settings.core-0.6.2] startup
[4.093s] [ext: omni.kit.capture-0.4.0] startup
[4.103s] [ext: omni.kit.window.commands-0.1.1] startup
[4.112s] [ext: omni.kit.menu.edit-1.0.3] startup
[4.121s] [ext: omni.kit.filebrowser_column.tags-1.0.0] startup
[4.129s] [ext: omni.kit.window.movie_maker-0.4.9] startup
[4.140s] [ext: omni.kit.tool.asset_importer-2.3.2] startup
[4.152s] [ext: omni.isaac.robot_engine_bridge_ui-0.1.0] startup
[4.159s] [ext: omni.kit.window.title-1.1.0] startup
[4.168s] [ext: omni.isaac.motion_planning-0.1.4] startup
[4.181s] [ext: omni.isaac.manip-0.1.2] startup
[4.189s] [ext: omni.kit.search.service-0.1.0] startup
[4.199s] [ext: omni.isaac.step_importer-0.1.1] startup
[4.263s] [ext: omni.isaac.robot_engine_bridge-0.1.0] startup
[4.514s] [ext: omni.isaac.urdf-0.1.4] startup
[4.528s] [ext: omni.isaac.synthetic_utils-0.1.0] startup
[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
[4.634s] [ext: omni.graph.examples.python-1.0.0] startup
[4.686s] [ext: omni.kit.window.profiler-1.0.0] startup
[4.696s] [ext: omni.isaac.utils_manager-0.1.0] startup
[4.705s] [ext: omni.isaac.app.setup-0.0.0] startup
[4.714s] [ext: omni.kit.window.stats-0.0.0] startup
[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?