Running Python code with headless container

I followed the steps to run Isaac Sim and I wanted to try running the python samples. I tried doing this by entering the docker container which is running in interactive mode (docker exec -it <container_name> /bin/bash) and trying to run the python from within it – this did not work (failed with bash: python: command not found).

I also tried to create a new conda environment (not in any container) and ran through the steps in python_samples/README.txt but this was the output from running simple/time_stepping.py

[8.278s] [ext: omni.isaac.dr] startup

2021-03-08 03:16:21 [8,277ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::dynamic_control::DynamicControl v0.1] (plugin: (null)), by client: omni.isaac.dr.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.

[8.329s] [ext: omni.kit.builtin.init] startup

2021-03-08 03:16:21 [8,310ms] [Warning] [carb.python] connectionhub is obsolete, please update your script to use omni.client

[8.330s] [ext: omni.kit.builtin.material_library] startup

[8.335s] [ext: omni.kit.builtin.profiler] startup

2021-03-08 03:16:21 [8,627ms] [Warning] [carb.tasking.plugin] Counter 0x7f53cc0064a0 released with 3 waiters; spinning until waiters finish

2021-03-08 03:16:21 [8,652ms] [Warning] [carb.tasking.plugin] Counter 0x7f53e0004440 released with 3 waiters; spinning until waiters finish

2021-03-08 03:16:21 [8,719ms] [Warning] [carb.tasking.plugin] Counter 0x7f53e81860a0 released with 3 waiters; spinning until waiters finish

Rendering and Physics with 1 second step size:

physics update step: 1.0 seconds

kit update step: 1.0 seconds

Rendering and Physics with 1/60 seconds step:

physics update step: 0.01666666753590107 seconds

kit update step: 0.01666666753590107 seconds

Rendering 1/60 seconds step size and Physics 1/120 seconds step size:

physics update step: 0.008333333767950535 seconds

physics update step: 0.008333333767950535 seconds

physics update step: 0.008333333767950535 seconds

physics update step: 0.008333333767950535 seconds

kit update step: 0.03333333507180214 seconds

++ DC: Stage Pause

Refreshing context

Exiting OmniKitHelper

2021-03-08 03:16:23 [10,482ms] [Warning] [carb.datasource-omniclient.plugin] carb::extras::HandleDatabase<TrueType, HandleType>::~HandleDatabase() [with TrueType = carb::datasource::Subscription; HandleType = long unsigned int]: had 13 outstanding handle(s) at shutdown

2021-03-08 03:16:23 [10,483ms] [Warning] [carb.audio.context] 1 contexts were leaked

terminate called without an active exception

Aborted (core dumped)

I then tried to run another docker container with the Isaac SDK on it … but I’m not sure this is the right approach.

What is the best way to run python applications with Isaac Sim? Do I need to install the Isaac SDK before running the examples?

Hi, currently there are challenges running the python samples in the Isaac Sim container. I would recommend running the samples with a native setup of Isaac Sim.

1 Like

I am having the same problem running the samples with a native setup of Isaac Sim. How can we solve this?

Hi,

Please post the steps you took and the log file. An output of nvidia-smi would help too.

First, I run python3 -m pip install -e . in the python_samples directory.
Then I run source setenv.sh
Then I run python3 jetbot/jetbot_train.py

This is the output:

[Warning] [omni.kit.app.plugin] --carb/app/extensions/folders2/0="/home/sara/isaac/isaac-sim/_build/target-deps/kit_sdk_release/_build/linux-x86_64/release/exts": prefix '--carb/' is deprecated. Override should be --/app/extensions/folders2/0="/home/sara/isaac/isaac-sim/_build/target-deps/kit_sdk_release/_build/linux-x86_64/release/exts"
[Warning] [omni.kit.app.plugin] --carb/app/extensions/folders2/1="/home/sara/isaac/isaac-sim/_build/target-deps/kit_sdk_release/_build/linux-x86_64/release/extsPhysics": prefix '--carb/' is deprecated. Override should be --/app/extensions/folders2/1="/home/sara/isaac/isaac-sim/_build/target-deps/kit_sdk_release/_build/linux-x86_64/release/extsPhysics"
[Warning] [omni.kit.app.plugin] --carb/app/extensions/folders2/2="/home/sara/isaac/isaac-sim/_build/linux-x86_64/release/exts": prefix '--carb/' is deprecated. Override should be --/app/extensions/folders2/2="/home/sara/isaac/isaac-sim/_build/linux-x86_64/release/exts"
[Info] [carb] Logging to file: /home/sara/isaac/isaac-sim/_build/target-deps/kit_sdk_release/_build/linux-x86_64/release/data/Kit/isaac-sim-python/2020.2.28460/omniverse-kit.log
2021-04-01 09:15:12 [5ms] [Warning] [omni.kit.app.plugin] [Graphics API] Vulkan

[0.115s] [ext: omni.timeline-0.1.0] startup
[0.123s] [ext: omni.kit.async_engine-0.1.0] startup
[0.124s] [ext: omni.assets-0.1.0] startup
[0.131s] [ext: omni.kit.test-0.1.0] startup
[0.133s] [ext: omni.usd-0.1.0] startup
[0.395s] [ext: omni.client-0.1.0] startup
2021-04-01 09:15:12 [371ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::tokens::ITokens v0.1] (plugin: (null)), by client: omni.client.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
[0.433s] [ext: omni.kit.registry.nucleus-0.1] startup
[0.439s] [ext: omni.kit.pipapi-0.1.0] startup
[0.899s] [ext: omni.stats-0.1.0] startup
[0.908s] [ext: omni.kit.pip_archive-0.1] startup
2021-04-01 09:15:13 [878ms] [Warning] [carb.python] There is already a module 'toml' in '/home/sara/.local/lib/python3.6/site-packages/toml/__init__.py'. Can't import another module with the same name in public space from '/home/sara/isaac/isaac-sim/_build/target-deps/kit_sdk_release/_build/linux-x86_64/release/exts/omni.kit.pip_archive-0.1/pip_prebundle'.
[0.920s] [ext: omni.appwindow-0.1.0] startup
[0.964s] [ext: omni.kit.commands-0.1] startup
[0.986s] [ext: omni.ansel-0.1.0] startup
[0.989s] [ext: omni.ui-1.0.0] startup
[1.003s] [ext: omni.renderer-0.1.0-rtx] startup
[1.004s] [ext: omni.kit.editor-0.1.0-full] startup

|---------------------------------------------------------------------------------------|
| Driver Version: 460.67
|=======================================================================================|
| GPU | Name                             | Active | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------|
| 0   | GeForce RTX 3080                 | Yes    | 10486   MB | 10de      | 0          |
|     |                                  |        |            | 2206      | d5288370.. |
|=======================================================================================|
| Processor: Intel(R) Core(TM) i7-7500U CPU @ 2.70GHz | Cores: Unknown | Logical: 4
|---------------------------------------------------------------------------------------|
| Total Memory (MB): 7841 | Free Memory: 4827
| Total Page/Swap (MB): 30517 | Free Page/Swap: 30517
|---------------------------------------------------------------------------------------|
2021-04-01 09:15:15 [3,317ms] [Warning] [rtx.neuraylib.plugin] [IRAY:RENDER]   1.1   IRAY   rend warn : CUDA device 0 (GeForce RTX 3080): compute capability 8.6: unsupported by this version of iray, please look for an update with your software provider.
2021-04-01 09:15:15 [3,317ms] [Warning] [rtx.neuraylib.plugin] [IRAY:RENDER]   1.1   IRAY   rend warn : GPU 1 (GeForce RTX 3080) with CUDA compute capability 8.6 cannot be used by iray photoreal (CUDA support might have been disabled manually).
2021-04-01 09:15:15 [3,317ms] [Warning] [rtx.neuraylib.plugin] [IRAY:RENDER]   1.1   IRAY   rend warn : There is no CUDA-capable GPU available to the iray photoreal renderer.
2021-04-01 09:15:16 [3,548ms] [Warning] [carb.tasking.plugin] Counter 0x7f619c081ec0 released with 2 waiters; spinning until waiters finish
2021-04-01 09:15:16 [3,612ms] [Warning] [carb.tasking.plugin] Counter 0x7f6198002930 released with 3 waiters; spinning until waiters finish
[4.095s] [ext: omni.syntheticdata] startup
[4.106s] [ext: omni.convexdecomposition] startup
[4.115s] [ext: omni.debugdraw] startup
[4.123s] [ext: omni.kit.primitive.mesh-0.1.0] startup
[4.162s] [ext: omni.kit.stage_templates-0.1] startup
[4.179s] [ext: omni.kit.window.content-0.1.0] startup
[4.189s] [ext: omni.kit.window.toolbar-0.1.0] startup
[4.202s] [ext: omni.kit.window.viewport-0.1.0] startup
[4.239s] [ext: omni.isaac.synthetic_utils] startup
2021-04-01 09:15:16 [4,362ms] [Warning] [carb.tasking.plugin] Counter 0x7f61a4004b60 released with 2 waiters; spinning until waiters finish
2021-04-01 09:15:16 [4,376ms] [Warning] [carb.tasking.plugin] Counter 0x7f61a42e2130 released with 2 waiters; spinning until waiters finish
[4.533s] [ext: omni.kit.context_menu-0.1.0] startup
[4.743s] [ext: omni.physx] startup
[4.802s] [ext: omni.isaac.lidar] startup
[5.036s] [ext: omni.isaac.dynamic_control] startup
[5.262s] [ext: omni.isaac.utils] startup
[5.704s] [ext: omni.isaac.robot_engine_bridge] startup
[6.188s] [ext: omni.isaac.dr] startup
2021-04-01 09:15:18 [6,173ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::dynamic_control::DynamicControl v0.1] (plugin: (null)), by client: omni.isaac.dr.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
[6.236s] [ext: omni.kit.builtin.init] startup
2021-04-01 09:15:18 [6,202ms] [Warning] [carb.python] connectionhub is obsolete, please update your script to use omni.client
[6.236s] [ext: omni.kit.builtin.material_library] startup
[6.242s] [ext: omni.kit.builtin.profiler] startup
2021-04-01 09:15:19 [6,775ms] [Warning] [carb.tasking.plugin] Counter 0x7f61a098dcc0 released with 2 waiters; spinning until waiters finish
2021-04-01 09:15:19 [6,833ms] [Warning] [carb.tasking.plugin] Counter 0x7f61a5126040 released with 3 waiters; spinning until waiters finish
2021-04-01 09:15:21 [9,401ms] [Warning] [omni.client.plugin]  Tick: authentication: Discovery(ws://localhost:3333): Error creating search: Not connected
['/World/DR/mesh_component/mesh_002_master_chef_can', '/World/DR/mesh_component/mesh_003_cracker_box', '/World/DR/mesh_component/mesh_004_sugar_box', '/World/DR/mesh_component/mesh_005_tomato_soup_can', '/World/DR/mesh_component/mesh_006_mustard_bottle', '/World/DR/mesh_component/mesh_007_tuna_fish_can', '/World/DR/mesh_component/mesh_008_pudding_box', '/World/DR/mesh_component/mesh_009_gelatin_box', '/World/DR/mesh_component/mesh_010_potted_meat_can', '/World/DR/mesh_component/mesh_011_banana', '/World/DR/mesh_component/mesh_019_pitcher_base', '/World/DR/mesh_component/mesh_021_bleach_cleanser', '/World/DR/mesh_component/mesh_024_bowl', '/World/DR/mesh_component/mesh_025_mug', '/World/DR/mesh_component/mesh_035_power_drill', '/World/DR/mesh_component/mesh_036_wood_block', '/World/DR/mesh_component/mesh_037_scissors', '/World/DR/mesh_component/mesh_040_large_marker', '/World/DR/mesh_component/mesh_051_large_clamp', '/World/DR/mesh_component/mesh_052_extra_large_clamp', '/World/DR/mesh_component/mesh_061_foam_brick']
2021-04-01 09:15:25 [12,858ms] [Error] [omni.client.plugin]  Main: usd_plugin: Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '
2021-04-01 09:15:25 [12,859ms] [Error] [omni.client.plugin]  140059530753792: usd_plugin: Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '
2021-04-01 09:15:25 [12,859ms] [Warning] [omni.usd] Coding Error: in _GetValueFromResolveInfoImpl at line 7308 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '

2021-04-01 09:15:25 [12,859ms] [Warning] [omni.usd] Coding Error (secondary thread): in _GetValueFromResolveInfoImpl at line 7308 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '

2021-04-01 09:15:25 [12,859ms] [Error] [omni.client.plugin]  Main: usd_plugin: Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '
2021-04-01 09:15:25 [12,859ms] [Warning] [omni.usd] Coding Error: in _GetValueFromResolveInfoImpl at line 7308 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '

2021-04-01 09:15:25 [12,859ms] [Error] [omni.client.plugin]  Main: usd_plugin: Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '
2021-04-01 09:15:25 [12,859ms] [Warning] [omni.usd] Coding Error: in _GetValueFromResolveInfoImpl at line 7308 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Failed verification: ' layer->HasField(specPath, SdfFieldKeys->Default, result) '

waiting for materials to load...
2021-04-01 09:15:25 [13,100ms] [Error] [omni.client.plugin]  Tick: usd_plugin: syntax error at '[' in </Root/a_4342p01_dat_001.faceVertexCounts> on line 69 in file _mem:0

2021-04-01 09:15:25 [13,100ms] [Error] [omni.usd] Runtime Error (secondary thread): in textFileFormatYyerror at line 3107 of pxr/usd/sdf/textFileFormat.yy -- syntax error at '[' in </Root/a_4342p01_dat_001.faceVertexCounts> on line 69 in file _mem:0


2021-04-01 09:15:25 [13,100ms] [Error] [omni.client.plugin]  Tick: usd_plugin: OmniUsdLayerState: Failed to read base layer omniverse://localhost/Library/Props/Road_Tiles/Parts/p4342p01.usd
2021-04-01 09:15:25 [13,100ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,101ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,115ms] [Error] [omni.client.plugin]  Tick: usd_plugin: syntax error at '[' in </Root/a_4336p01_dat.faceVertexCounts> on line 69 in file _mem:1

2021-04-01 09:15:25 [13,115ms] [Error] [omni.usd] Runtime Error (secondary thread): in textFileFormatYyerror at line 3107 of pxr/usd/sdf/textFileFormat.yy -- syntax error at '[' in </Root/a_4336p01_dat.faceVertexCounts> on line 69 in file _mem:1


2021-04-01 09:15:25 [13,115ms] [Error] [omni.client.plugin]  Tick: usd_plugin: OmniUsdLayerState: Failed to read base layer omniverse://localhost/Library/Props/Road_Tiles/Parts/p4336p01.usd
2021-04-01 09:15:25 [13,116ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_01>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,116ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_01>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,118ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_02>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,118ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_02>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,119ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_03>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,119ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_03>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,120ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_04>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,121ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_04>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,122ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_05>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,122ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_05>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,123ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_06>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,123ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_06>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,124ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_07>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,124ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_07>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,125ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_08>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,125ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_08>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,126ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_09>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,126ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_09>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,127ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_10>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,127ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_10>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,128ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_11>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,128ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_11>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,129ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_12>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,129ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_12>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,130ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_13>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,130ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_13>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,131ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_14>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,131ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_14>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

2021-04-01 09:15:25 [13,132ms] [Warning] [omni.client.plugin]  Main: usd_plugin: Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_15>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)
2021-04-01 09:15:25 [13,132ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 2703 of /opt/buildagent-share/work/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp -- Unresolved reference path <defaultPrim> on prim @anon:0x7f606005c490:World0.usd@,@anon:0x7f606005fcb0:World0-session.usda@</World/Env/Tiles/Tile_15>. (recomposing stage on stage @anon:0x7f606005c490:World0.usd@ <0x7f60600610b0>)

get valid location called [4, 0] [4.640625  0.6484375]
prim_path: /World/Robot/Jetbot
robot path: Usd.Prim(</World/Robot/Jetbot>)
Traceback (most recent call last):
  File "jetbot_train.py", line 84, in <module>
    train()
  File "jetbot_train.py", line 35, in train
    env = JetbotEnv(omniverse_kit, max_resets=10, updates_per_step=3)
  File "/home/sara/isaac/isaac-sim/python_samples/jetbot/jetbot_env.py", line 53, in __init__
    self.jetbot.spawn(Gf.Vec3d(self.initial_loc[0], self.initial_loc[1], 5), 0)
  File "/home/sara/isaac/isaac-sim/python_samples/jetbot/jetbot.py", line 54, in spawn
    left_wheel_joint.GetDampingAttr().Set(DRIVE_STIFFNESS)
RuntimeError: Accessed schema on invalid prim
Exiting OmniKitHelper
2021-04-01 09:15:27 [15,433ms] [Warning] [carb.tasking.plugin] Counter 0x7f6198bbd300 released with 3 waiters; spinning until waiters finish
2021-04-01 09:15:28 [15,534ms] [Warning] [carb.datasource-omniclient.plugin] carb::extras::HandleDatabase<TrueType, HandleType>::~HandleDatabase() [with TrueType = carb::datasource::Subscription; HandleType = long unsigned int]: had 22 outstanding handle(s) at shutdown
2021-04-01 09:15:28 [15,534ms] [Warning] [carb.audio.context] 1 contexts were leaked
terminate called without an active exception
Aborted (core dumped)

The output from nvidia-smi:

+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.67       Driver Version: 460.67       CUDA Version: 11.2     |
|-------------------------------+----------------------+----------------------+
| 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  GeForce RTX 3080    Off  | 00000000:08:00.0  On |                  N/A |
| 33%   31C    P8    11W / 320W |    511MiB / 10018MiB |      2%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A      1101      G   /usr/lib/xorg/Xorg                301MiB |
|    0   N/A  N/A      1372      G   /usr/bin/gnome-shell               57MiB |
|    0   N/A  N/A      4906      G   ...AAAAAAAAA= --shared-files      147MiB |
+-----------------------------------------------------------------------------+

Please try this Isaac Sim patch.

I had already tried that… What solved it was deleting the .local folder.