jong@jong-Precision-5820-Tower:~/.local/share/ov/pkg/isaac_sim-2022.1.0$ /usr/bin/env /home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/bin/python3 /home/jong/.vscode/extensions/ms-python.python-2022.8.0/pythonFiles/lib/python/debugpy/launcher 36499 -- /home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/works/cartpole/cartpole_example.py [Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.gym', 'omni.isaac.gym.vec_env', 'omni.isaac.gym.vec_env.vec_env_base', 'omni.isaac.gym.vec_env.vec_env_mt'] were loaded before SimulationApp was started and might not be loaded correctly. [Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) Starting kit application with the fillowing args: ['/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--ext-folder', '/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/exts', '--ext-folder', '/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/apps', '--portable', '--no-window'] Passing the following args to the base kit application: [] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/logs/Kit/Isaac-Sim/2022.1/kit_20220622_160407.log [0.210s] [ext: omni.stats-0.0.0] startup [0.229s] [ext: omni.gpu_foundation-0.0.0] startup 2022-06-22 07:04:08 [225ms] [Warning] [carb] FrameworkImpl::setDefaultPlugin(client: omni.gpu_foundation_factory.plugin, desc : [carb::graphics::Graphics v2.5], plugin : carb.graphics-vulkan.plugin) failed. Plugin selection is locked, because the interface was previously acquired by: [0.239s] [ext: carb.windowing.plugins-1.0.0] startup [0.252s] [ext: omni.assets.plugins-0.0.0] startup [0.253s] [ext: omni.kit.renderer.init-0.0.0] startup |---------------------------------------------------------------------------------------------| | Driver Version: 470.129.6 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA RTX A6000 | Yes: 0 | | 49386 MB | 10de | 0 | | | | | | | 2230 | 3a2e70c4.. | |=============================================================================================| | OS: Linux jong-Precision-5820-Tower, Version: 5.14.0-1042-oem | Processor: Intel(R) Xeon(R) W-2295 CPU @ 3.00GHz | Cores: Unknown | Logical: 36 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 128507 | Free Memory: 123632 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2047 |---------------------------------------------------------------------------------------------| 2022-06-22 07:04:09 [1,265ms] [Warning] [carb.cudainterop.plugin] On Linux only, CUDA and the display driver does not support IOMMU-enabled bare-metal PCIe peer to peer memory copy. However, CUDA and the display driver does support IOMMU via VM pass through. As a consequence, users on Linux, when running on a native bare metal system, should disable the IOMMU. The IOMMU should be enabled and the VFIO driver be used as a PCIe pass through for virtual machines. [1.303s] [ext: omni.kit.pipapi-0.0.0] startup [1.345s] [ext: omni.kit.pip_archive-0.0.0] startup [1.363s] [ext: omni.isaac.core_archive-0.3.0] startup [1.401s] [ext: omni.usd.config-1.0.0] startup [1.404s] [ext: omni.usd.libs-1.0.0] startup [1.622s] [ext: omni.isaac.ml_archive-0.1.0] startup [1.625s] [ext: omni.kit.loop-isaac-0.1.0] startup [1.627s] [ext: omni.kit.async_engine-0.0.0] startup [1.630s] [ext: omni.appwindow-1.0.0] startup [1.633s] [ext: omni.client-0.1.0] startup [1.645s] [ext: omni.kit.test-0.0.0] startup [1.699s] [ext: omni.kit.renderer.core-0.0.0] startup [1.831s] [ext: omni.ui-2.10.3] startup [1.854s] [ext: carb.audio-0.1.0] startup [1.857s] [ext: omni.kit.mainwindow-0.0.0] startup [1.860s] [ext: omni.uiaudio-1.0.0] startup [1.861s] [ext: omni.kit.uiapp-0.0.0] startup [1.862s] [ext: omni.usd.schema.physics-1.0.0] startup [1.921s] [ext: omni.usd.schema.audio-0.0.0] startup [1.943s] [ext: omni.usd.schema.semantics-0.0.0] startup [1.968s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [1.984s] [ext: omni.usd.schema.anim-0.0.0] startup [2.042s] [ext: omni.kit.commands-1.2.2] startup [2.048s] [ext: omni.timeline-1.0.2] startup [2.051s] [ext: omni.hydra.scene_delegate-0.2.0] startup [2.060s] [ext: omni.kit.audiodeviceenum-1.0.0] startup [2.062s] [ext: omni.usd-1.5.3] startup [2.227s] [ext: omni.kit.asset_converter-1.2.30] startup [2.265s] [ext: omni.usd.schema.isaac-0.2.0] startup [2.331s] [ext: omni.usd.schema.physx-0.0.0] startup [2.368s] [ext: omni.kit.search_core-1.0.2] startup [2.370s] [ext: omni.renderer-rtx-0.0.0] startup [2.371s] [ext: omni.kit.widget.graph-1.4.2] startup [2.382s] [ext: omni.kit.widget.filebrowser-2.2.26] startup [2.390s] [ext: omni.kit.window.popup_dialog-2.0.7] startup [2.396s] [ext: omni.mdl.neuraylib-0.1.0] startup [2.401s] [ext: omni.kit.widget.path_field-2.0.3] startup [2.402s] [ext: omni.kit.widget.versioning-1.3.8] startup [2.405s] [ext: omni.kit.notification_manager-1.0.5] startup [2.414s] [ext: omni.kit.widget.browser_bar-2.0.3] startup [2.415s] [ext: omni.kit.menu.utils-1.2.11] startup [2.430s] [ext: omni.kit.window.filepicker-2.4.29] startup OmniAssetFileFormat [2.498s] [ext: omni.mdl-0.1.0] startup [2.564s] [ext: omni.kit.menu.create-1.0.2] startup [2.565s] [ext: omni.kit.window.file_exporter-1.0.4] startup [2.567s] [ext: omni.kit.window.drop_support-1.0.0] startup [2.568s] [ext: omni.kit.material.library-1.3.10] startup [2.571s] [ext: omni.kit.window.property-1.6.3] startup [2.573s] [ext: omni.kit.context_menu-1.3.9] startup [2.578s] [ext: omni.kit.window.file_importer-1.0.4] startup [2.579s] [ext: omni.kit.stage_templates-1.1.2] startup [2.581s] [ext: omni.kit.widget.stage-2.6.15] startup [2.586s] [ext: omni.kit.window.file-1.3.16] startup [2.589s] [ext: omni.debugdraw-0.1.0] startup [2.596s] [ext: omni.kit.window.content_browser-2.4.28] startup [2.621s] [ext: omni.kit.widget.prompt-1.0.1] startup [2.622s] [ext: omni.kit.property.usd-3.14.8] startup [2.665s] [ext: omni.hydra.engine.stats-1.0.0] startup [2.673s] [ext: omni.kit.widget.settings-1.0.0] startup [2.675s] [ext: omni.graph.tools-1.3.5] startup [2.708s] [ext: omni.graph.core-2.27.0] startup [2.713s] [ext: omni.hydra.rtx-0.1.0] startup [2.724s] [ext: omni.kit.viewport.legacy_gizmos-1.0.0] startup [2.728s] [ext: omni.ui_query-1.1.1] startup [2.731s] [ext: omni.graph-1.22.1] startup [2.801s] [ext: omni.kit.window.viewport-0.0.0] startup 2022-06-22 07:04:10 [2,955ms] [Error] [rtx.neuraylib.plugin] [DYNLIB:IO] 0.1 DYNLIB io error: /home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/bin/libs/iray/libnvindex.so: cannot open shared object file: No such file or directory 2022-06-22 07:04:10 [2,955ms] [Error] [rtx.neuraylib.plugin] [INDEX:MAIN] 0.1 INDEX main error: Failed to load /home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/bin/libs/iray/libnvindex.so [4.260s] [ext: omni.kit.window.preferences-1.2.1] startup [4.307s] [ext: omni.kit.ui_test-1.2.0] startup [4.310s] [ext: omni.graph.ui-1.6.1] startup [4.340s] [ext: omni.kvdb-0.0.0] startup [4.344s] [ext: omni.kit.widget.searchfield-1.0.6] startup [4.346s] [ext: omni.convexdecomposition-1.4.12] startup [4.351s] [ext: omni.graph.action-1.17.0] startup [4.367s] [ext: omni.localcache-0.0.0] startup [4.371s] [ext: omni.usdphysics-1.4.12] startup [4.374s] [ext: omni.graph.scriptnode-0.5.0] startup [4.377s] [ext: omni.physx-1.4.12-5.1] startup [4.404s] [ext: omni.kit.usd_undo-0.1.0] startup [4.406s] [ext: omni.graph.nodes-1.25.0] startup [4.431s] [ext: omni.physx.commands-1.4.12-5.1] startup [4.496s] [ext: omni.syntheticdata-0.2.1] startup [4.545s] [ext: omni.physx.ui-1.4.12-5.1] startup [4.663s] [ext: omni.warp-0.2.1] startup Warp initialized: Version: 0.2.1 Using CUDA device: NVIDIA RTX A6000 Using CPU compiler: Not found [6.918s] [ext: omni.kit.renderer.capture-0.0.0] startup [6.923s] [ext: omni.kit.property.material-1.8.5] startup [6.927s] [ext: omni.physx.demos-1.4.12-5.1] startup [6.931s] [ext: omni.physics.tensors-0.1.0] startup [6.942s] [ext: omni.kit.property.physx-0.1.0] startup 2022-06-22 07:04:15 [7,065ms] [Warning] [omni.physx.plugin] Deprecated: getSimulationEventStream is deprecated, please use getSimulationEventStreamV2 [7.080s] [ext: omni.kit.window.toolbar-1.2.4] startup [7.088s] [ext: omni.physx.tensors-0.1.0] startup [7.096s] [ext: omni.physx.vehicle-1.4.12-5.1] startup [7.110s] [ext: omni.physx.tests-1.4.12-5.1] startup [7.167s] [ext: omni.kit.numpy.common-0.1.0] startup [7.171s] [ext: omni.physx.camera-1.4.12-5.1] startup [7.180s] [ext: omni.physx.cct-1.4.12-5.1] startup [7.249s] [ext: omni.isaac.version-1.0.0] startup [7.250s] [ext: omni.isaac.dynamic_control-1.0.0] startup [7.260s] [ext: omni.physx.bundle-1.4.12-5.1] startup [7.260s] [ext: omni.kit.primitive.mesh-1.0.0] startup [7.266s] [ext: omni.command.usd-1.0.1] startup [7.271s] [ext: omni.isaac.core-1.15.1] startup [7.492s] [ext: omni.replicator.core-1.2.0] startup [7.722s] [ext: omni.kit.window.extensions-1.1.0] startup [7.728s] [ext: omni.isaac.core_nodes-0.9.0] startup [7.741s] [ext: omni.isaac.ui-0.2.1] startup [7.744s] [ext: omni.kit.window.script_editor-1.6.2] startup [7.753s] [ext: omni.isaac.wheeled_robots-0.5.4] startup [7.767s] [ext: omni.kit.menu.common-1.0.0] startup [7.769s] [ext: omni.kit.graph.delegate.default-1.0.15] startup [7.771s] [ext: omni.kit.graph.delegate.modern-1.6.0] startup [7.774s] [ext: omni.kit.widget.zoombar-1.0.3] startup [7.775s] [ext: omni.kit.graph.editor.core-1.3.3] startup [7.778s] [ext: omni.kit.widget.stage_icons-1.0.2] startup [7.780s] [ext: omni.kit.browser.core-2.0.12] startup [7.786s] [ext: omni.kit.graph.widget.variables-2.0.2] startup [7.788s] [ext: omni.kit.window.stage-2.3.7] startup [7.792s] [ext: omni.kit.browser.folder.core-1.1.13] startup [7.797s] [ext: omni.graph.window.core-1.22.1] startup [7.804s] [ext: omni.isaac.lula-1.1.0] startup [7.830s] [ext: omni.graph.instancing-1.1.4] startup [7.842s] [ext: omni.graph.window.action-1.3.8] startup [7.845s] [ext: omni.graph.tutorials-1.1.2] startup [7.876s] [ext: omni.rtx.window.settings-0.6.1] startup [7.885s] [ext: omni.isaac.motion_planning-0.2.0] startup [7.896s] [ext: omni.graph.bundle.action-1.0.0] startup [7.896s] [ext: omni.rtx.settings.core-0.5.5] startup [7.903s] [ext: omni.isaac.motion_generation-3.1.2] startup [7.909s] [ext: omni.isaac.kit-0.1.9] startup [7.910s] [ext: omni.isaac.debug_draw-0.1.2] startup [7.918s] [ext: omni.kit.selection-0.1.0] startup [7.919s] [ext: omni.isaac.franka-0.0.0] startup [7.921s] [ext: omni.kit.widget.layers-1.5.17] startup [7.946s] [ext: omni.kit.menu.edit-1.0.6] startup [7.950s] [ext: omni.isaac.isaac_sensor-0.3.4] startup 2022-06-22 07:04:15 [7,951ms] [Warning] [omni.physx.plugin] Deprecated: getSimulationEventStream is deprecated, please use getSimulationEventStreamV2 [7.967s] [ext: omni.kit.widget.live-0.1.0] startup [7.976s] [ext: omni.isaac.surface_gripper-0.1.2] startup [7.986s] [ext: omni.kit.property.layer-1.1.2] startup [7.989s] [ext: omni.isaac.range_sensor-0.4.2] startup [8.031s] [ext: omni.graph.window.generic-1.3.8] startup [8.033s] [ext: omni.isaac.utils-0.1.11] startup [8.037s] [ext: omni.isaac.universal_robots-0.2.1] startup [8.038s] [ext: omni.kit.property.audio-1.0.5] startup [8.040s] [ext: omni.kit.property.skel-1.0.1] startup [8.043s] [ext: omni.kit.property.render-1.1.0] startup [8.046s] [ext: omni.kit.property.camera-1.0.3] startup [8.048s] [ext: omni.kit.property.geometry-1.2.0] startup [8.054s] [ext: omni.kit.property.light-1.0.5] startup [8.057s] [ext: omni.kit.property.transform-1.0.2] startup [8.068s] [ext: omni.isaac.occupancy_map-0.2.4] startup [8.099s] [ext: omni.ui.scene-1.4.6] startup [8.118s] [ext: omni.kit.window.console-0.2.0] startup [8.134s] [ext: omni.kit.window.status_bar-0.1.1] startup [8.144s] [ext: omni.kit.property.bundle-1.2.4] startup [8.147s] [ext: omni.kit.menu.file-1.0.8] startup [8.149s] [ext: omni.kit.manipulator.viewport-1.0.6] startup [8.154s] [ext: omni.isaac.urdf-0.2.2] startup [8.207s] [ext: omni.isaac.dofbot-0.2.0] startup [8.208s] [ext: omni.kit.window.title-1.1.1] startup [8.210s] [ext: omni.kit.profiler.window-1.4.4] startup [8.217s] [ext: omni.graph.visualization.nodes-1.1.1] startup [8.223s] [ext: omni.isaac.synthetic_utils-0.2.1] startup [8.233s] [ext: semantics.schema.editor-0.2.2] startup [8.237s] [ext: omni.isaac.sim.python-2022.1.0] startup [8.239s] Simulation App Starting [9.436s] app ready [13.304s] Simulation App Startup Complete /home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.ml_archive/pip_prebundle/gym/spaces/box.py:74: UserWarning: WARN: Box bound precision lowered by casting to float32 "Box bound precision lowered by casting to {}".format(self.dtype) 2022-06-22 07:04:21 [13,671ms] [Warning] [carb.flatcache.plugin] Type tag does not have a corresponding USD type Using cuda:0 device Wrapping the env with a `Monitor` wrapper Wrapping the env in a DummyVecEnv. Traceback (most recent call last): File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/works/cartpole/cartpole_example.py", line 26, in model.learn(total_timesteps=100000) File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/lib/python3.7/site-packages/stable_baselines3/ppo/ppo.py", line 313, in learn reset_num_timesteps=reset_num_timesteps, File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/lib/python3.7/site-packages/stable_baselines3/common/on_policy_algorithm.py", line 243, in learn total_timesteps, eval_env, callback, eval_freq, n_eval_episodes, eval_log_path, reset_num_timesteps, tb_log_name File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/lib/python3.7/site-packages/stable_baselines3/common/base_class.py", line 429, in _setup_learn self._last_obs = self.env.reset() # pytype: disable=annotation-type-mismatch File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/lib/python3.7/site-packages/stable_baselines3/common/vec_env/dummy_vec_env.py", line 61, in reset obs = self.envs[env_idx].reset() File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/python/lib/python3.7/site-packages/stable_baselines3/common/monitor.py", line 79, in reset return self.env.reset(**kwargs) File "/home/jong/.local/share/ov/pkg/isaac_sim-2022.1.0/exts/omni.isaac.gym/omni/isaac/gym/vec_env/vec_env_base.py", line 130, in reset self._task.reset() AttributeError: 'CartpoleTask' object has no attribute 'reset' jong@jong-Precision-5820-Tower:~/.local/share/ov/pkg/isaac_sim-2022.1.0$