ISAACSIM_PATH is set to /isaac-sim ./run_sim.sh: 15: Bad substitution [Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.kit.app_framework'] 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(...) [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230331_143305.log 2023-03-31 14:33:05 [19ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.sensors.nv.lidar' or '/isaac-sim/exts/omni.sensors.nv.lidar/config' 2023-03-31 14:33:05 [19ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.sensors.nv.radar' or '/isaac-sim/exts/omni.sensors.nv.radar/config' [0.175s] [ext: omni.stats-0.0.0] startup [0.212s] [ext: omni.rtx.shadercache-1.0.0] startup [0.224s] [ext: omni.assets.plugins-0.0.0] startup [0.226s] [ext: omni.gpu_foundation-0.0.0] startup [0.237s] [ext: carb.windowing.plugins-1.0.0] startup 2023-03-31 14:33:06 [224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:06 [224ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) [0.239s] [ext: omni.kit.renderer.init-0.0.0] startup 2023-03-31 14:33:08 [2,401ms] [Warning] [carb.graphics-vulkan.plugin] No command queue family supports flags: 0x100, queue type: 3. No queues of this type will be created |---------------------------------------------------------------------------------------------| | Driver Version: 525.60.11 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | |---------------------------------------------------------------------------------------------| | 0 | Tesla T4 | Yes: 0 | | 15606 MB | 10de | 0 | | | | | | | 1eb8 | 2979274f.. | |=============================================================================================| | OS: Linux isaac-sim-1, Version: 5.15.0-1031-gcp | Processor: Intel(R) Xeon(R) CPU @ 2.30GHz | Cores: Unknown | Logical: 8 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 30085 | Free Memory: 28922 | Total Page/Swap (MB): 0 | Free Page/Swap: 0 |---------------------------------------------------------------------------------------------| 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] ECC is enabled for device 0. This will reduce rendering performance. 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] ----------------------------------------------------------------------- 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] !!!!! Local system validation failed! Incorrect configuration detected. 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] Summary below. Details above. 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] ----------------------------------------------------------------------- 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] - ECC: FAILED 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] - IOMMU: OK 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] 2023-03-31 14:33:09 [3,374ms] [Warning] [gpu.foundation.plugin] ----------------------------------------------------------------------- [4.846s] [ext: omni.kit.pipapi-0.0.0] startup [4.871s] [ext: omni.kit.pip_archive-0.0.0] startup [4.902s] [ext: omni.kit.loop-isaac-1.0.0] startup [4.903s] [ext: omni.kit.async_engine-0.0.0] startup [4.906s] [ext: omni.kit.test-0.0.0] startup [5.190s] [ext: omni.usd.config-1.0.0] startup [5.197s] [ext: omni.usd.libs-1.0.0] startup [5.367s] [ext: omni.isaac.core_archive-2.0.1] startup [5.763s] [ext: omni.pip.torch-1_13_1-0.1.4] startup [5.767s] [ext: omni.isaac.ml_archive-1.1.0] startup [5.912s] [ext: omni.client-0.1.1] startup [5.928s] [ext: omni.appwindow-1.0.1] startup 2023-03-31 14:33:11 [5,914ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:11 [5,914ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) [5.931s] [ext: omni.kit.renderer.core-0.0.0] startup 2023-03-31 14:33:11 [5,919ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:11 [5,919ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) 2023-03-31 14:33:11 [5,921ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:11 [5,921ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) [5.942s] [ext: omni.kit.renderer.capture-0.0.0] startup [5.946s] [ext: omni.kit.renderer.imgui-0.0.0] startup 2023-03-31 14:33:11 [5,936ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:11 [5,936ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) 2023-03-31 14:33:11 [5,937ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:11 [5,937ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) [6.172s] [ext: carb.audio-0.1.0] startup [6.175s] [ext: omni.ui-2.14.4] startup [6.196s] [ext: omni.uiaudio-1.0.0] startup [6.198s] [ext: omni.kit.mainwindow-1.0.0] startup [6.202s] [ext: omni.kit.uiapp-0.0.0] startup [6.202s] [ext: omni.usd.schema.physics-1.0.0] startup [6.258s] [ext: omni.usd.schema.isaac-1.1.0] startup [6.279s] [ext: omni.usd.schema.semantics-0.0.0] startup [6.295s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [6.307s] [ext: omni.usd.schema.forcefield-0.0.0] startup [6.318s] [ext: omni.usd.schema.omniscripting-1.0.0] startup [6.329s] [ext: omni.usd.schema.geospatial-0.0.0] startup [6.339s] [ext: omni.usd.schema.anim-0.0.0] startup [6.424s] [ext: omni.usd.schema.audio-0.0.0] startup [6.434s] [ext: omni.usd.schema.scene.visualization-1.0.0] startup [6.436s] [ext: omni.usd.schema.physx-0.0.0] startup [6.476s] [ext: omni.gpucompute.plugins-0.0.0] startup [6.477s] [ext: omni.timeline-1.0.5] startup [6.479s] [ext: omni.kit.search_core-1.0.2] startup [6.482s] [ext: omni.hydra.scene_delegate-0.3.0] startup [6.490s] [ext: omni.kit.widget.path_field-2.0.4] startup [6.500s] [ext: omni.kit.widget.filebrowser-2.3.10] startup [6.572s] [ext: omni.kit.widget.browser_bar-2.0.5] startup [6.576s] [ext: omni.kit.window.popup_dialog-2.0.16] startup [6.589s] [ext: omni.kit.actions.core-1.0.0] startup [6.594s] [ext: omni.usd.core-1.0.4] startup [6.597s] [ext: omni.kit.audiodeviceenum-1.0.0] startup [6.599s] [ext: omni.kit.widget.nucleus_connector-1.0.3] startup [6.605s] [ext: omni.kit.commands-1.4.5] startup [6.619s] [ext: omni.hydra.usdrt_delegate-4.3.2] startup [6.639s] [ext: omni.kit.notification_manager-1.0.5] startup [6.653s] [ext: omni.usd-1.6.30] startup [6.760s] [ext: omni.kit.widget.versioning-1.3.8] startup [6.772s] [ext: omni.iray.libs-0.0.0] startup [6.779s] [ext: omni.kit.window.filepicker-2.7.15] startup [6.882s] [ext: omni.mdl.neuraylib-0.1.0] startup [6.886s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup [6.894s] [ext: omni.kit.window.file_importer-1.0.10] startup [6.898s] [ext: omni.mdl-0.1.0] startup [7.101s] [ext: omni.kit.usd.layers-2.0.11] startup [7.136s] [ext: omni.kit.menu.utils-1.4.7] startup [7.166s] [ext: omni.kit.material.library-1.3.21] startup [7.182s] [ext: omni.kit.menu.create-1.0.8] startup [7.187s] [ext: omni.kit.clipboard-1.0.0] startup [7.188s] [ext: omni.kit.widget.graph-1.5.6-104_2] startup [7.374s] [ext: omni.kit.context_menu-1.5.12] startup [7.396s] [ext: omni.kit.window.extensions-1.1.1] startup [7.437s] [ext: omni.inspect-1.0.1] startup [7.442s] [ext: omni.kit.window.property-1.8.2] startup [7.450s] [ext: omni.kit.primitive.mesh-1.0.8] startup [7.471s] [ext: omni.graph.core-2.65.4] startup [7.475s] [ext: omni.isaac.version-1.0.0] startup [7.476s] [ext: omni.kit.stage_templates-1.1.13] startup [7.485s] [ext: omni.kit.usd_undo-0.1.2] startup [7.487s] [ext: omni.graph.tools-1.17.2] startup [7.583s] [ext: omni.ui.scene-1.5.18] startup [7.591s] [ext: omni.graph-1.50.2] startup [7.790s] [ext: omni.ui_query-1.1.1] startup [7.794s] [ext: omni.volume-0.1.0] startup [7.798s] [ext: omni.kit.ui_test-1.2.9] startup [7.807s] [ext: omni.hydra.rtx-0.1.0] startup [7.816s] [ext: omni.kit.widget.searchfield-1.0.10] startup [7.822s] [ext: omni.kit.graph.delegate.default-1.0.18] startup [7.826s] [ext: omni.debugdraw-0.1.1] startup [7.832s] [ext: omni.kit.graph.editor.core-1.4.7] startup [7.849s] [ext: omni.hydra.pxr-1.1.2] startup [7.857s] [ext: omni.activity.core-1.0.1] startup [7.862s] [ext: omni.kit.hydra_texture-1.0.11] startup [7.870s] [ext: omni.kit.viewport.legacy_gizmos-1.0.10] startup [7.877s] [ext: omni.kit.viewport.registry-104.0.2] startup [7.879s] [ext: omni.kit.widget.viewport-104.1.16] startup [7.901s] [ext: omni.kit.window.drop_support-1.0.1] startup [7.903s] [ext: omni.kit.window.file_exporter-1.0.10] startup [7.907s] [ext: omni.hydra.engine.stats-1.0.0] startup [7.912s] [ext: omni.kit.window.content_browser_registry-0.0.1] startup [7.914s] [ext: omni.kit.window.file-1.3.32] startup [7.931s] [ext: omni.kit.viewport.window-104.1.23] startup [8.025s] [ext: omni.kit.widget.settings-1.0.1] startup [8.036s] [ext: omni.kit.widget.stage-2.7.24] startup [8.068s] [ext: omni.kit.window.content_browser-2.6.8] startup [8.138s] [ext: omni.kit.viewport.utility-1.0.14] startup [8.145s] [ext: omni.kit.window.preferences-1.3.8] startup [8.213s] [ext: omni.kit.widget.text_editor-1.0.2] startup [8.216s] [ext: omni.kit.widget.prompt-1.0.5] startup [8.220s] [ext: omni.kit.property.usd-3.18.17] startup [8.288s] [ext: omni.kit.graph.delegate.modern-1.6.5] startup [8.300s] [ext: omni.graph.ui-1.24.2] startup [8.484s] [ext: omni.physics.tensors-0.1.0] startup [8.506s] [ext: omni.kit.graph.widget.variables-2.0.4] startup [8.513s] [ext: omni.kit.graph.usd.commands-1.2.0] startup [8.516s] [ext: omni.convexdecomposition-104.2.4-5.1] startup [8.520s] [ext: omni.graph.window.core-1.43.3] startup [8.582s] [ext: omni.kit.widget.zoombar-1.0.4] startup [8.585s] [ext: omni.kvdb-0.0.0] startup [8.589s] [ext: omni.usdphysics-104.2.4-5.1] startup [8.593s] [ext: omni.localcache-0.0.0] startup [8.596s] [ext: omni.graph.scriptnode-0.10.0] startup [8.604s] [ext: omni.physx-104.2.4-5.1] startup [8.642s] [ext: omni.command.usd-1.0.2] startup [8.648s] [ext: omni.physx.tensors-0.1.0] startup [9.322s] [ext: omni.graph.window.generic-1.3.15] startup [9.328s] [ext: omni.kit.browser.core-2.2.2] startup [9.350s] [ext: omni.graph.action-1.31.1] startup [9.373s] [ext: omni.kit.browser.folder.core-1.7.3] startup [9.393s] [ext: omni.kit.window.cursor-1.1.1] startup [9.395s] [ext: omni.kit.widget.spinner-1.0.4] startup [9.400s] [ext: omni.kit.browser.sample-1.2.5] startup [9.404s] [ext: omni.graph.nodes-1.48.3] startup [9.503s] [ext: omni.kit.viewport.menubar.core-104.4.3] startup [9.578s] [ext: omni.kit.numpy.common-0Starting kit application with the following args: ['/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/isaac-sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/isaac-sim/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', '--/app/fastShutdown=True', '--ext-folder', '/isaac-sim/exts', '--ext-folder', '/isaac-sim/apps', '--/physics/cudaDevice=0', '--portable', '--no-window', '--allow-root'] Passing the following args to the base kit application: [] Warp 0.6.3 initialized: CUDA Toolkit: 11.5, Driver: 12.0 Devices: "cpu" | x86_64 "cuda:0" | Tesla T4 (sm_75) Kernel cache: /root/.cache/warp/0.6.3 WARNING: Attribute 'inputs:execIn' description should not be empty WARNING: Attribute 'inputs:sdf_min' description should not be empty WARNING: Attribute 'inputs:sdf_max' description should not be empty WARNING: Attribute 'inputs:spacing' description should not be empty WARNING: Attribute 'inputs:spacing_jitter' description should not be empty WARNING: Attribute 'inputs:velocity' description should not be empty WARNING: Attribute 'inputs:max_points' description should not be empty WARNING: Attribute 'inputs:mass' description should not be empty WARNING: Attribute 'inputs:radius' description should not be empty WARNING: Attribute 'inputs:k_contact_elastic' description should not be empty WARNING: Attribute 'inputs:k_contact_damp' description should not be empty WARNING: Attribute 'inputs:k_contact_friction' description should not be empty WARNING: Attribute 'inputs:k_contact_mu' description should not be empty WARNING: Attribute 'inputs:k_contact_cohesion' description should not be empty WARNING: Attribute 'inputs:k_contact_adhesion' description should not be empty WARNING: Attribute 'inputs:num_substeps' description should not be empty WARNING: Attribute 'inputs:gravity' description should not be empty WARNING: Attribute 'inputs:ground' description should not be empty WARNING: Attribute 'inputs:ground_plane' description should not be empty WARNING: Attribute 'inputs:asynchronous' description should not be empty WARNING: Attribute 'inputs:fps' description should not be empty WARNING: Attribute 'inputs:start' description should not be empty WARNING: Attribute 'inputs:end' description should not be empty WARNING: Attribute 'outputs:time' description should not be empty WARNING: Node description should not be empty WARNING: Attribute 'inputs:resolution' description should not be empty WARNING: Attribute 'inputs:speed' description should not be empty WARNING: Attribute 'inputs:damp' description should not be empty WARNING: Attribute 'inputs:grid' description should not be empty WARNING: Attribute 'inputs:collider_0' description should not be empty WARNING: Attribute 'inputs:collider_1' description should not be empty WARNING: Attribute 'inputs:collider_2' description should not be empty WARNING: Attribute 'inputs:collider_3' description should not be empty WARNING: Attribute 'inputs:buoyancy_enabled' description should not be empty WARNING: Attribute 'inputs:density_0' description should not be empty WARNING: Attribute 'inputs:density_1' description should not be empty WARNING: Attribute 'inputs:density_2' description should not be empty WARNING: Attribute 'inputs:density_3' description should not be empty WARNING: Attribute 'inputs:displace' description should not be empty WARNING: Attribute 'inputs:gravity' description should not be empty WARNING: Attribute 'inputs:buoyancy' description should not be empty WARNING: Attribute 'inputs:buoyancy_damp' description should not be empty WARNING: Attribute 'inputs:delay' description should not be empty WARNING: Attribute 'outputs:vertices' description should not be empty WARNING: Attribute 'outputs:face_indices' description should not be empty WARNING: Attribute 'outputs:face_counts' description should not be empty WARNING: Attribute 'inputs:collider_offset' description should not be empty WARNING: Attribute 'inputs:ground' description should not be empty WARNING: Attribute 'inputs:ground_plane' description should not be empty WARNING: Attribute 'inputs:density' description should not be empty WARNING: Attribute 'inputs:k_tri_elastic' description should not be empty WARNING: Attribute 'inputs:k_tri_area' description should not be empty WARNING: Attribute 'inputs:k_tri_damp' description should not be empty WARNING: Attribute 'inputs:k_edge_bend' description should not be empty WARNING: Attribute 'inputs:k_edge_damp' description should not be empty WARNING: Attribute 'inputs:k_contact_elastic' description should not be empty WARNING: Attribute 'inputs:k_contact_damp' description should not be empty WARNING: Attribute 'inputs:k_contact_friction' description should not be empty WARNING: Attribute 'inputs:k_contact_mu' description should not be empty WARNING: Attribute 'inputs:num_substeps' description should not be empty WARNING: Attribute 'inputs:gravity' description should not be empty .1.0] startup [9.582s] [ext: omni.warp-0.6.3] startup [10.064s] [ext: omni.syntheticdata-0.2.4] startup 2023-03-31 14:33:16 [10,111ms] [Warning] [omni.kit.viewport.menubar.core.menu_item.viewport_menu_item] ViewportMenuItem order argument is deprecated, use order_setting_path [10.139s] [ext: omni.isaac.dynamic_control-1.2.3] startup [10.170s] [ext: omni.replicator.core-1.7.8] startup 2023-03-31 14:33:16 [10,693ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template [11.188s] [ext: omni.isaac.core-1.46.3] startup [13.410s] [ext: omni.kit.manipulator.viewport-104.0.7] startup [13.416s] [ext: omni.isaac.core_nodes-0.23.2] startup [13.473s] [ext: omni.isaac.cloner-0.4.1] startup [13.477s] [ext: omni.isaac.lula-1.2.1] startup [13.494s] [ext: omni.graph.visualization.nodes-2.0.0] startup [13.513s] [ext: omni.isaac.debug_draw-0.2.3] startup [13.521s] [ext: omni.isaac.gym-0.3.3] startup [13.522s] [ext: omni.graph.window.action-1.5.5] startup [13.527s] [ext: omni.isaac.ui-0.8.0] startup [13.553s] [ext: usdrt.scenegraph-4.3.2] startup [13.583s] [ext: omni.isaac.motion_planning-0.2.2] startup [13.596s] [ext: omni.isaac.surface_gripper-0.4.0] startup [13.626s] [ext: omni.isaac.range_sensor-0.8.1] startup [13.734s] [ext: omni.isaac.motion_generation-4.5.6] startup [13.775s] [ext: omni.isaac.manipulators-1.1.0] startup [13.782s] [ext: omni.isaac.sensor-5.6.3] startup 2023-03-31 14:33:19 [13,769ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor-5.6.3] Native plugin search dir contains several files: /isaac-sim/exts/omni.isaac.sensor/bin . It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard. [13.880s] [ext: omni.isaac.dofbot-0.3.0] startup [13.883s] [ext: omni.isaac.occupancy_map-0.2.7] startup [13.905s] [ext: omni.isaac.quadruped-1.3.0] startup [15.176s] [ext: omni.isaac.scene_blox-0.1.0] startup [15.178s] [ext: omni.isaac.synthetic_utils-0.4.3] startup [15.190s] [ext: omni.isaac.universal_robots-0.3.2] startup [15.193s] [ext: omni.isaac.isaac_sensor-2.0.0] startup 2023-03-31 14:33:21 [15,180ms] [Warning] [omni.isaac.isaac_sensor] omni.isaac.isaac_sensor is deprecated and was renamed; use omni.isaac.sensor [15.195s] [ext: omni.kit.widget.live_session_management-1.1.3] startup [15.207s] [ext: omni.kit.hotkeys.core-1.0.8] startup [15.248s] [ext: omni.isaac.wheeled_robots-0.6.3] startup [15.314s] [ext: omni.kit.widget.stage_icons-1.0.2] startup [15.318s] [ext: omni.kit.widget.layers-1.6.11] startup [15.382s] [ext: omni.kit.selection-0.1.0] startup [15.387s] [ext: omni.isaac.mjcf-0.3.1] startup [15.403s] [ext: omni.kit.window.stage-2.3.12] startup [15.411s] [ext: omni.kit.property.layer-1.1.4] startup [15.420s] [ext: omni.kit.menu.edit-1.1.6] startup [15.430s] [ext: omni.kit.menu.file-1.1.4] startup [15.435s] [ext: omni.kit.menu.stage-1.2.1] startup [15.438s] [ext: omni.kit.property.audio-1.0.6] startup [15.444s] [ext: omni.kit.property.camera-1.0.3] startup [15.449s] [ext: omni.kit.property.geometry-1.2.2] startup [15.459s] [ext: omni.kit.property.light-1.0.6] startup [15.463s] [ext: omni.hydra.scene_api-0.1.1] startup [15.472s] [ext: omni.kit.property.material-1.8.19] startup [15.488s] [ext: omni.kit.property.render-1.1.0] startup [15.490s] [ext: omni.kit.property.skel-1.0.1] startup [15.495s] [ext: omni.kit.property.transform-1.3.5] startup [15.522s] [ext: omni.kit.manipulator.transform-104.6.12] startup [15.527s] [ext: omni.kit.widget.toolbar-1.4.0] startup [15.552s] [ext: omni.kit.profiler.window-2.0.5] startup [15.831s] [ext: omni.kit.property.bundle-1.2.6] startup [15.835s] [ext: omni.kit.manipulator.selector-1.0.1] startup [15.839s] [ext: omni.kit.manipulator.tool.snap-1.2.4] startup [15.874s] [ext: omni.kit.window.toolbar-1.4.0] startup [15.879s] [ext: omni.kit.property.isaac-0.2.0] startup [15.886s] [ext: omni.kit.stage_column.payload-1.0.8] startup [15.891s] [ext: omni.kit.manipulator.camera-104.0.23] startup [15.892s] [ext: omni.kit.manipulator.prim-104.10.7] startup [15.920s] [ext: omni.kit.manipulator.selection-104.0.6] startup [15.920s] [ext: omni.kit.viewport.menubar.display-104.1.11] startup [15.928s] [ext: omni.kit.viewport.menubar.camera-104.1.9] startup [15.949s] [ext: omni.rtx.window.settings-0.6.2] startup [15.965s] [ext: omni.kit.viewport.menubar.settings-104.3.5] startup [15.988s] [ext: omni.kit.viewport.menubar.render-104.0.20] startup [15.999s] [ext: omni.physx.commands-104.2.4-5.1] startup [16.026s] [ext: omni.kit.stage_column.variant-1.0.9] startup [16.031s] [ext: omni.hydra.pxr.settings-1.0.3] startup [16.035s] [ext: omni.kit.viewport.bundle-104.0.2] startup [16.035s] [ext: omni.physx.ui-104.2.4-5.1] startup [16.154s] [ext: omni.kit.viewport.menubar.lighting-104.0.9] startup [16.167s] [ext: omni.kit.viewport.pxr-104.0.1] startup [16.167s] [ext: omni.kit.viewport.ready-1.0.2] startup [16.169s] [ext: omni.physx.demos-104.2.4-5.1] startup [16.182s] [ext: omni.kit.property.physx-0.1.0] startup [16.293s] [ext: omni.isaac.urdf-0.5.9] startup [16.535s] [ext: omni.kit.widget.highlight_label-1.0.0] startup [16.538s] [ext: omni.physx.supportui-104.2.4-5.1] startup [16.580s] [ext: omni.physx.vehicle-104.2.4-5.1] startup [16.633s] [ext: omni.physx.cct-104.2.4-5.1] startup [16.650s] [ext: omni.physx.camera-104.2.4-5.1] startup [16.664s] [ext: omni.kit.actions.window-1.1.0] startup [16.691s] [ext: omni.kit.window.commands-0.2.4] startup [16.698s] [ext: omni.kit.window.console-0.2.3] startup [16.712s] [ext: omni.physx.bundle-104.2.4-5.1] startup [16.712s] [ext: omni.graph.bundle.action-1.3.0] startup [16.712s] [ext: omni.kit.window.script_editor-1.7.2] startup [16.718s] [ext: omni.kit.hotkeys.window-1.1.3] startup [16.748s] [ext: omni.kit.window.status_bar-0.1.5] startup [16.754s] [ext: omni.kit.window.title-1.1.2] startup 2023-03-31 14:33:22 [16,743ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:22 [16,743ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) 2023-03-31 14:33:22 [16,745ms] [Warning] [carb] [Plugin: libomni.structuredlog.plugin.so] Module /isaac-sim/kit/libomni.structuredlog.plugin.so remained loaded after unload request 2023-03-31 14:33:22 [16,746ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2023-03-31 14:33:22 [16,746ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.3]) (impl: carb.windowing-glfw.plugin) [16.761s] [ext: omni.replicator.composer-1.2.10] startup [16.790s] [ext: omni.replicator.isaac-1.7.4] startup [16.882s] [ext: omni.resourcemonitor-1.0.0] startup [16.892s] [ext: omni.rtx.settings.core-0.5.8] startup [16.912s] [ext: omni.isaac.franka-0.4.0] startup [16.916s] [ext: omni.kit.viewport.rtx-104.0.0] startup [16.916s] [ext: semantics.schema.editor-0.3.3] startup [16.928s] [ext: omni.kit.widget.live-2.0.3] startup 2023-03-31 14:33:22 [16,922ms] [Warning] [omni.kit.widget.live.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance. [16.937s] [ext: omni.isaac.utils-0.2.4] startup [16.947s] [ext: omni.isaac.kit-1.4.1] startup [16.948s] [ext: omni.isaac.cortex-0.3.2] startup [16.949s] [ext: omni.kit.window.stats-0.1.2] startup [16.953s] [ext: omni.isaac.sim.python-2022.2.1] startup [16.955s] Simulation App Starting 2023-03-31 14:33:23 [17,180ms] [Warning] [rtx.neuraylib.plugin] [IRAY:RENDER] 1.1 IRAY rend warn : CUDA device 0 (Tesla T4): ECC is enabled, this will reduce rendering performance (it is strongly recommended to disable ECC with iray) [20.178s] [ext: omni.isaac.sim.python-2022.2.1] shutdown [20.178s] [ext: omni.isaac.universal_robots-0.3.2] shutdown [20.390s] [ext: omni.isaac.cortex-0.3.2] shutdown [20.601s] [ext: omni.isaac.franka-0.4.0] shutdown [20.827s] [ext: omni.isaac.dofbot-0.3.0] shutdown [21.035s] [ext: omni.isaac.manipulators-1.1.0] shutdown [21.245s] [ext: omni.isaac.surface_gripper-0.4.0] shutdown 2023-03-31 14:33:27 [21,474ms] [Warning] [omni.ext._impl._internal] omni.isaac.surface_gripper-0.4.0 -> : extension object is still alive, something holds a reference on it. References: ["[0]:type: , id: 140276450674720"] [21.697s] [ext: omni.isaac.wheeled_robots-0.6.3] shutdown [21.929s] [ext: omni.isaac.surface_gripper-0.4.0] startup [21.944s] [ext: omni.isaac.manipulators-1.1.0] startup [21.946s] [ext: omni.isaac.dofbot-0.3.0] startup [21.948s] [ext: omni.isaac.universal_robots-0.3.2] startup [21.950s] [ext: omni.isaac.wheeled_robots-0.6.3] startup [21.962s] [ext: omni.isaac.franka-0.4.0] startup [21.963s] [ext: omni.isaac.cortex-0.3.2] startup [21.964s] [ext: omni.isaac.sim.python-2022.2.1] startup [405.171s] RTX ready Imported URDF path: /isaac-sim/exts/omni.isaac.urdf/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf ... logging to /root/.ros/log/f32d8eac-cfd0-11ed-8ca6-42010a11ca18/roslaunch-isaac-sim-1-53.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. ]2;roscore started roslaunch server http://isaac-sim-1:44967/ ros_comm version 1.16.0 SUMMARY ======== PARAMETERS * /rosdistro: noetic * /rosversion: 1.16.0 NODES auto-starting new master process[master]: started with pid [80] ROS_MASTER_URI=http://isaac-sim-1:11311/ ]2;roscore http://isaac-sim-1:11311/ setting /run_id to f32d8eac-cfd0-11ed-8ca6-42010a11ca18 process[rosout-1]: started with pid [92] started core service [/rosout] [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done 2023-03-31 14:34:05 [59,182ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 30 seconds so far 2023-03-31 14:34:35 [89,183ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 60 seconds so far 2023-03-31 14:35:05 [119,183ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 90 seconds so far 2023-03-31 14:35:35 [149,183ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 120 seconds so far 2023-03-31 14:36:05 [179,183ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 150 seconds so far 2023-03-31 14:36:35 [209,184ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 180 seconds so far 2023-03-31 14:37:05 [239,184ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 210 seconds so far 2023-03-31 14:37:35 [269,184ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 240 seconds so far 2023-03-31 14:38:05 [299,184ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 270 seconds so far 2023-03-31 14:38:35 [329,185ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 300 seconds so far 2023-03-31 14:39:05 [359,185ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 330 seconds so far 2023-03-31 14:39:35 [389,185ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 360 seconds so far 2023-03-31 14:39:50 [404,389ms] [Warning] [gpu.foundation.plugin] Ray tracing shader compilation finished after 375 seconds [404.716s] app ready [405.335s] Simulation App Startup Complete [405.357s] [ext: omni.isaac.ros_bridge-1.11.2] startup 2023-03-31 14:39:52 [406,799ms] [Warning] [omni.client.plugin] Tick: authentication: Discovery(ws://localhost:3333): Error creating Api/Connection search: Not connected 2023-03-31 14:39:52 [406,801ms] [Warning] [omni.isaac.core.utils.nucleus] /persistent/app/omniverse/mountedDrives setting not found 2023-03-31 14:39:54 [408,513ms] [Warning] [omni.physx.plugin] The rigid body at /panda/panda_link8 has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [2513.792s] Simulation App Shutting Down