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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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Not possible to run on any GPU other than cuda:0 #46

Open Robokan opened 1 year ago

Robokan commented 1 year ago

on line 106 of simulation_context.py

   if self._device is not None and "cuda" in self._device:
        device_id = self._settings.get_as_int("/physics/cudaDevice")
        self._device = f"cuda:{device_id}"

this will always return cuda:0 as far as I can tell. No way to pass in cuda:1 when constructing the context.

I have changed both device_id and rl_device in config.yaml in omniIsaacgymenvs and config.yaml in AnymalTerrain. So cuda: 1 seems to be used everywhere else but here.

kellyguo11 commented 1 year ago

Hi there, could you confirm the version of Isaac Sim you are working with? The GPU device should be set as a parameter when passed to the VecEnv class from rlgames_train.py. On the VecEnv side, this will be used when creating the Isaac Sim instance, which will set the /physics/cudaDevice value.

Robokan commented 1 year ago

Thanks! Updating to 2022.2.1 doesn't crash when running the following command:

python scripts/rlgames_train.py task=AnymalTerrain checkpoint=runs/AnymalTerrain/nn/AnymalTerrain.pth test=True num_envs=64 rl_device=cuda:1 device_id=1

But it still shows cuda:0 at 97% capacity using 136 w and is allocating memory on it. If I stop the process cuda:0 goes down to 5%. So it's definitely causing it. It is using some resources on cuda:1 but why would it be using so much more on cuda:0?

The simulation also does not behave properly. The Anymal do not move. If I don't pass these arguments it works fine.

|=========================================+======================+======================| | 0 NVIDIA GeForce RTX 4090 On | 00000000:01:00.0 Off | Off | | 0% 37C P2 136W / 450W| 6832MiB / 24564MiB | 97% Default | | | | N/A | +-----------------------------------------+----------------------+----------------------+ | 1 NVIDIA GeForce RTX 4090 On | 00000000:41:00.0 Off | Off | | 0% 33C P2 84W / 450W| 4376MiB / 24564MiB | 61% Default | | | | N/A | +-----------------------------------------+----------------------+----------------------+

python scripts/rlgames_train.py task=AnymalTerrain checkpoint=runs/AnymalTerrain/nn/AnymalTerrain.pth test=True num_envs=64 rl_device=cuda:1 device_id=1 /home/bizon/anaconda3/envs/isaac-sim/lib/python3.7/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'config': Defaults list is missing _self_. See https://hydra.cc/docs/upgrades/1.0_to_1.1/default_composition_order for more information warnings.warn(msg, UserWarning) /home/bizon/anaconda3/envs/isaac-sim/lib/python3.7/site-packages/hydra/_internal/defaults_list.py:412: UserWarning: In config: Invalid overriding of hydra/job_logging: Default list overrides requires 'override' keyword. See https://hydra.cc/docs/next/upgrades/1.0_to_1.1/defaults_list_override for more information.

deprecation_warning(msg) [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(...) Starting kit application with the following args: ['/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/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', '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/exts', '--ext-folder', '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/apps', '--/physics/cudaDevice=1', '--portable'] Passing the following args to the base kit application: ['task=AnymalTerrain', 'checkpoint=runs/AnymalTerrain/nn/AnymalTerrain.pth', 'test=True', 'num_envs=64', 'rl_device=cuda:1', 'device_id=1'] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230505_080928.log 2023-05-05 18:09:28 [7ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar' or '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar/config' 2023-05-05 18:09:28 [7ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar' or '/home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar/config' [0.105s] [ext: omni.stats-0.0.0] startup [0.115s] [ext: omni.rtx.shadercache-1.0.0] startup [0.119s] [ext: omni.assets.plugins-0.0.0] startup [0.120s] [ext: omni.gpu_foundation-0.0.0] startup [0.125s] [ext: carb.windowing.plugins-1.0.0] startup 2023-05-05 18:09:28 [123ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): ASRock LED Controller [03000000ce260000a201000010010000] [0.131s] [ext: omni.kit.renderer.init-0.0.0] startup

--------------------------------------------------------------------------------------------- Driver Version: 530.30.02 Graphics API: Vulkan ============================================================================================= GPU Name Active LDA GPU Memory Vendor-ID LUID Device-ID UUID
0 NVIDIA GeForce RTX 4090 Yes: 1 24810 MB 10de 0
2684 527cadd8..
---------------------------------------------------------------------------------------------
1 NVIDIA GeForce RTX 4090 Yes: 0 24810 MB 10de 0
2684 7c9328c9..
=============================================================================================
OS: Linux dl, Version: 5.15.0-69-generic
XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
Processor: AMD Ryzen Threadripper PRO 5975WX 32-Cores Cores: Unknown Logical: 64
---------------------------------------------------------------------------------------------
Total Memory (MB): 257558 Free Memory: 245449
Total Page/Swap (MB): 2047 Free Page/Swap: 2047
---------------------------------------------------------------------------------------------

2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled. Found 50 items in /sys/kernel/iommu_groups/. 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.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. 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] ----------------------------------------------------------------------- 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] !!!!! Local system validation failed! Incorrect configuration detected. 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] Summary below. Details above. 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] ----------------------------------------------------------------------- 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] 2023-05-05 18:09:29 [955ms] [Warning] [gpu.foundation.plugin] - ECC: OK 2023-05-05 18:09:29 [956ms] [Warning] [gpu.foundation.plugin] - IOMMU: FAILED 2023-05-05 18:09:29 [956ms] [Warning] [gpu.foundation.plugin] 2023-05-05 18:09:29 [956ms] [Warning] [gpu.foundation.plugin] ----------------------------------------------------------------------- [1.461s] [ext: omni.kit.pipapi-0.0.0] startup [1.466s] [ext: omni.kit.pip_archive-0.0.0] startup [1.468s] [ext: omni.kit.loop-isaac-1.0.0] startup [1.468s] [ext: omni.kit.async_engine-0.0.0] startup [1.469s] [ext: omni.kit.test-0.0.0] startup [1.480s] [ext: omni.usd.config-1.0.0] startup [1.483s] [ext: omni.usd.libs-1.0.0] startup [1.657s] [ext: omni.isaac.core_archive-2.0.1] startup [1.663s] [ext: omni.pip.torch-1_13_1-0.1.4] startup 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It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard. 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3.0 terrain: staticFriction: 1.0 dynamicFriction: 1.0 restitution: 0.0 curriculum: True maxInitMapLevel: 0 mapLength: 8.0 mapWidth: 8.0 numLevels: 10 numTerrains: 20 terrainProportions: [0.1, 0.1, 0.35, 0.25, 0.2] slopeTreshold: 0.5 baseInitState: pos: [0.0, 0.0, 0.62] rot: [1.0, 0.0, 0.0, 0.0] vLinear: [0.0, 0.0, 0.0] vAngular: [0.0, 0.0, 0.0] randomCommandVelocityRanges: linear_x: [-1.0, 1.0] linear_y: [-1.0, 1.0] yaw: [-3.14, 3.14] control: stiffness: 80.0 damping: 2.0 actionScale: 0.5 decimation: 4 defaultJointAngles: LF_HAA: 0.03 LH_HAA: 0.03 RF_HAA: -0.03 RH_HAA: -0.03 LF_HFE: 0.4 LH_HFE: -0.4 RF_HFE: 0.4 RH_HFE: -0.4 LF_KFE: -0.8 LH_KFE: 0.8 RF_KFE: -0.8 RH_KFE: 0.8 learn: terminalReward: 0.0 linearVelocityXYRewardScale: 1.0 linearVelocityZRewardScale: -4.0 angularVelocityXYRewardScale: -0.05 angularVelocityZRewardScale: 0.5 orientationRewardScale: -0.0 torqueRewardScale: -2e-05 jointAccRewardScale: -0.0005 baseHeightRewardScale: -0.0 actionRateRewardScale: -0.01 fallenOverRewardScale: -1.0 hipRewardScale: -0.0 linearVelocityScale: 2.0 angularVelocityScale: 0.25 dofPositionScale: 1.0 dofVelocityScale: 0.05 heightMeasurementScale: 5.0 addNoise: True noiseLevel: 1.0 dofPositionNoise: 0.01 dofVelocityNoise: 1.5 linearVelocityNoise: 0.1 angularVelocityNoise: 0.2 gravityNoise: 0.05 heightMeasurementNoise: 0.06 pushInterval_s: 15 episodeLength_s: 20 sim: dt: 0.005 use_gpu_pipeline: True gravity: [0.0, 0.0, -9.81] add_ground_plane: False use_flatcache: True enable_scene_query_support: False disable_contact_processing: True enable_cameras: False default_physics_material: static_friction: 1.0 dynamic_friction: 1.0 restitution: 0.0 physx: worker_thread_count: 4 solver_type: 1 use_gpu: True solver_position_iteration_count: 4 solver_velocity_iteration_count: 0 contact_offset: 0.02 rest_offset: 0.0 bounce_threshold_velocity: 0.2 friction_offset_threshold: 0.04 friction_correlation_distance: 0.025 enable_sleeping: True enable_stabilization: True max_depenetration_velocity: 100.0 gpu_max_rigid_contact_count: 524288 gpu_max_rigid_patch_count: 163840 gpu_found_lost_pairs_capacity: 4194304 gpu_found_lost_aggregate_pairs_capacity: 33554432 gpu_total_aggregate_pairs_capacity: 4194304 gpu_max_soft_body_contacts: 1048576 gpu_max_particle_contacts: 1048576 gpu_heap_capacity: 134217728 gpu_temp_buffer_capacity: 33554432 gpu_max_num_partitions: 8 anymal: override_usd_defaults: False enable_self_collisions: True enable_gyroscopic_forces: False solver_position_iteration_count: 4 solver_velocity_iteration_count: 0 sleep_threshold: 0.005 stabilization_threshold: 0.001 density: -1 max_depenetration_velocity: 100.0 train: params: seed: 42 algo: name: a2c_continuous model: name: continuous_a2c_logstd network: name: actor_critic separate: True space: continuous: mu_activation: None sigma_activation: None mu_init: name: default sigma_init: name: const_initializer val: 0.0 fixed_sigma: True mlp: units: [512, 256, 128] activation: elu d2rl: False initializer: name: default regularizer: name: None load_checkpoint: True load_path: /home/bizon/eric/OmniIsaacGymEnvs/omniisaacgymenvs/runs/AnymalTerrain/nn/AnymalTerrain.pth config: name: AnymalTerrain full_experiment_name: AnymalTerrain device: cuda:1 device_name: cuda:1 env_name: rlgpu multi_gpu: False ppo: True mixed_precision: False normalize_input: True normalize_value: True normalize_advantage: True value_bootstrap: True clip_actions: False num_actors: 64 reward_shaper: scale_value: 1.0 gamma: 0.99 tau: 0.95 e_clip: 0.2 entropy_coef: 0.001 learning_rate: 0.0003 lr_schedule: adaptive kl_threshold: 0.008 truncate_grads: True grad_norm: 1.0 horizon_length: 48 minibatch_size: 16384 mini_epochs: 5 critic_coef: 2 clip_value: True seq_len: 4 bounds_loss_coef: 0.0 max_epochs: 2000 save_best_after: 100 score_to_win: 20000 save_frequency: 50 print_stats: True task_name: AnymalTerrain experiment: num_envs: 64 seed: 42 torch_deterministic: False max_iterations: physics_engine: physx pipeline: gpu sim_device: gpu device_id: 1 rl_device: cuda:1 multi_gpu: False num_threads: 4 solver_type: 1 test: True checkpoint: /home/bizon/eric/OmniIsaacGymEnvs/omniisaacgymenvs/runs/AnymalTerrain/nn/AnymalTerrain.pth headless: False enable_livestream: False mt_timeout: 30 wandb_activate: False wandb_group: wandb_name: AnymalTerrain wandb_entity: wandb_project: omniisaacgymenvs Setting seed: 42 Sim params does not have attribute: physx Sim params does not have attribute: anymal Pipeline: GPU Pipeline Device: cuda:1 Sim Device: GPU Task Device: cuda:1 RL device: cuda:1 /home/bizon/anaconda3/envs/isaac-sim/lib/python3.7/site-packages/gym/spaces/box.py:84: UserWarning: WARN: Box bound precision lowered by casting to float32 logger.warn(f"Box bound precision lowered by casting to {self.dtype}") /home/bizon/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch/functional.py:504: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at ../aten/src/ATen/native/TensorShape.cpp:3190.) return _VF.meshgrid(tensors, *kwargs) # type: ignore[attr-defined] [10.759s] [ext: omni.physx.flatcache-104.2.4-5.1] startup 2023-05-05 18:09:42 [14,075ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/anymal/base/visuals.proto_mesh_12_id12 that has not been populated ~~~ ~~~ Direct GPU Helper: ~~~ 64 articulations, maxLinks=13 ~~~* self.seed = 42 Started to play [BasePlayer] Creating regular env: rlgpu {'observation_space': Box(-inf, inf, (188,), float32), 'action_space': Box(-1.0, 1.0, (12,), float32), 'agents': 1, 'value_size': 1} build mlp: 188 build mlp: 188 RunningMeanStd: (1,) RunningMeanStd: (188,) => loading checkpoint '/home/bizon/eric/OmniIsaacGymEnvs/omniisaacgymenvs/runs/AnymalTerrain/nn/AnymalTerrain.pth' [2023-05-05 08:09:45] Running RL reset reward: 7.2 steps: 998.0 reward: 5.6 steps: 999.0 reward: 4.4 steps: 999.0 reward: 0.0 steps: 780.0 reward: 0.6 steps: 794.0 reward: 0.1 steps: 802.0 reward: 0.5 steps: 817.0 reward: 6.7 steps: 999.0 reward: 3.0 steps: 999.0 reward: 8.8 steps: 999.0 reward: 15.8 steps: 999.0