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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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Examples crash upon startup (Inconsistency detected by ld.so) #65

Open LarsDoorenbos opened 1 year ago

LarsDoorenbos commented 1 year ago

Hey,

I am trying to run the example PYTHON_PATH scripts/rlgames_train.py task=Cartpole given in the README. However, I run into the following error: Inconsistency detected by ld.so: ../elf/dl-tls.c: 618: _dl_allocate_tls_init: Assertion `listp != NULL' failed!.

Setting LD_DEBUG=all does not give more information. This issue in a different repo claims this is due to glibc bug, and it is fixed from 2.34. However, from ldd version I get ldd (Ubuntu GLIBC 2.35-0ubuntu3.1) 2.35, so that should not be the issue either.

Running Isaac Sim normally (from the Omniverse launcher or my own script) works as expected. I am running Ubuntu 22.04 with the built-in Python 3.7 environment of Isaac Sim.

Here is the full log:

/bin/bash: /home/ldoorenbos/anaconda3/lib/libtinfo.so.6: no version information available (required by /bin/bash) /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1 /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/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/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/python/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/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/ldoorenbos/.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/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts', '--ext-folder', '/home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/apps', '--/physics/cudaDevice=0', '--portable'] Passing the following args to the base kit application: ['task=Cartpole'] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230727_172128.log 2023-07-27 15:21:28 [30ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar' or '/home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.lidar/config' 2023-07-27 15:21:28 [30ms] [Warning] [omni.ext.plugin] [ext: omni.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar' or '/home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.sensors.nv.radar/config' [0.219s] [ext: omni.stats-0.0.0] startup [0.237s] [ext: omni.rtx.shadercache-1.0.0] startup [0.245s] [ext: omni.assets.plugins-0.0.0] startup [0.247s] [ext: omni.gpu_foundation-0.0.0] startup [0.254s] [ext: carb.windowing.plugins-1.0.0] startup [0.282s] [ext: omni.kit.renderer.init-0.0.0] startup

--------------------------------------------------------------------------------------------- Driver Version: 535.86.05 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 6ccf01aa..
=============================================================================================
OS: Linux f9409cc-lcedt, Version: 5.19.0-50-generic
XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
Processor: Intel(R) Core(TM) i9-10980XE CPU @ 3.00GHz Cores: Unknown Logical: 36
---------------------------------------------------------------------------------------------
Total Memory (MB): 31795 Free Memory: 23121
Total Page/Swap (MB): 15359 Free Page/Swap: 15359
---------------------------------------------------------------------------------------------

[1.138s] [ext: omni.kit.pipapi-0.0.0] startup [1.147s] [ext: omni.kit.pip_archive-0.0.0] startup [1.149s] [ext: omni.kit.loop-isaac-1.0.0] startup [1.150s] [ext: omni.kit.async_engine-0.0.0] startup [1.151s] [ext: omni.kit.test-0.0.0] startup [1.170s] [ext: omni.usd.config-1.0.0] startup [1.174s] [ext: omni.usd.libs-1.0.0] startup [1.371s] [ext: omni.isaac.core_archive-2.0.1] startup [1.436s] [ext: omni.pip.torch-1_13_1-0.1.4] startup [1.438s] [ext: omni.isaac.ml_archive-1.1.0] startup [1.439s] [ext: omni.client-0.1.1] startup [1.448s] [ext: omni.appwindow-1.0.1] startup [1.456s] [ext: omni.kit.renderer.core-0.0.0] startup [1.565s] [ext: omni.kit.renderer.capture-0.0.0] startup [1.569s] [ext: omni.kit.renderer.imgui-0.0.0] startup [1.656s] [ext: carb.audio-0.1.0] startup [1.663s] [ext: omni.ui-2.14.4] startup [1.686s] [ext: omni.uiaudio-1.0.0] startup [1.688s] [ext: omni.kit.mainwindow-1.0.0] startup [1.689s] [ext: omni.kit.uiapp-0.0.0] startup [1.689s] [ext: omni.usd.schema.physics-1.0.0] startup [1.753s] [ext: omni.usd.schema.isaac-1.1.0] startup [1.770s] [ext: omni.usd.schema.semantics-0.0.0] startup [1.782s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [1.791s] [ext: omni.usd.schema.forcefield-0.0.0] startup [1.811s] [ext: omni.usd.schema.omniscripting-1.0.0] startup [1.825s] [ext: omni.usd.schema.geospatial-0.0.0] startup [1.833s] [ext: omni.usd.schema.anim-0.0.0] startup [1.894s] [ext: omni.usd.schema.audio-0.0.0] startup [1.901s] [ext: omni.usd.schema.scene.visualization-1.0.0] startup [1.902s] [ext: omni.usd.schema.physx-0.0.0] startup [1.931s] [ext: omni.gpucompute.plugins-0.0.0] startup [1.932s] [ext: omni.timeline-1.0.5] startup [1.933s] [ext: omni.kit.search_core-1.0.2] startup [1.934s] [ext: omni.hydra.scene_delegate-0.3.0] startup [1.943s] [ext: omni.kit.widget.path_field-2.0.4] startup [1.946s] [ext: omni.kit.widget.filebrowser-2.3.10] startup [1.958s] [ext: omni.kit.widget.browser_bar-2.0.5] startup [1.959s] [ext: omni.kit.window.popup_dialog-2.0.16] startup [1.963s] [ext: omni.kit.actions.core-1.0.0] startup [1.965s] [ext: omni.usd.core-1.0.4] startup [1.969s] [ext: omni.kit.audiodeviceenum-1.0.0] startup [1.970s] [ext: omni.kit.widget.nucleus_connector-1.0.3] startup [1.972s] [ext: omni.kit.commands-1.4.5] startup [1.975s] [ext: omni.hydra.usdrt_delegate-4.3.2] startup [1.997s] [ext: omni.kit.notification_manager-1.0.5] startup [1.998s] [ext: omni.usd-1.6.30] startup [2.055s] [ext: omni.kit.widget.versioning-1.3.8] startup [2.057s] [ext: omni.iray.libs-0.0.0] startup [2.061s] [ext: omni.kit.window.filepicker-2.7.15] startup [2.115s] [ext: omni.mdl.neuraylib-0.1.0] startup [2.118s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup [2.120s] [ext: omni.kit.window.file_importer-1.0.10] startup [2.121s] [ext: omni.mdl-0.1.0] startup [2.140s] [ext: omni.kit.usd.layers-2.0.11] startup [2.149s] [ext: omni.kit.menu.utils-1.4.7] startup [2.161s] [ext: omni.kit.material.library-1.3.21] startup /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/kernel/py/omni/kit/app/_impl/init.py:104: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated since Python 3.3,and in 3.9 it will stop working if not isinstance(setting_py, str) and isinstance(setting_py, collections.Sequence): [2.166s] [ext: omni.kit.menu.create-1.0.8] startup [2.168s] [ext: omni.kit.clipboard-1.0.0] startup [2.168s] [ext: omni.kit.widget.graph-1.5.6-104_2] startup [2.264s] [ext: omni.kit.context_menu-1.5.12] startup [2.268s] [ext: omni.kit.window.extensions-1.1.1] startup [2.273s] [ext: omni.inspect-1.0.1] startup [2.276s] [ext: omni.kit.window.property-1.8.2] startup [2.278s] [ext: omni.kit.primitive.mesh-1.0.8] startup [2.282s] [ext: omni.graph.core-2.65.4] startup [2.286s] [ext: omni.isaac.version-1.0.0] startup [2.287s] [ext: omni.kit.stage_templates-1.1.13] startup [2.289s] [ext: omni.kit.usd_undo-0.1.2] startup [2.290s] [ext: omni.graph.tools-1.17.2] startup [2.306s] [ext: omni.ui.scene-1.5.18] startup [2.311s] [ext: omni.graph-1.50.2] startup /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/exts/omni.graph/omni/graph/core/_impl/autonode/type_definitions.py:12: DeprecationWarning: np.float is a deprecated alias for the builtin float. To silence this warning, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here. Deprecated in NumPy 1.20; for more details and guidance: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations Float = NewType("Float", np.float) [2.359s] [ext: omni.ui_query-1.1.1] startup [2.360s] [ext: omni.volume-0.1.0] startup [2.362s] [ext: omni.kit.ui_test-1.2.9] startup [2.364s] [ext: omni.hydra.rtx-0.1.0] startup [2.372s] [ext: omni.kit.widget.searchfield-1.0.10] startup [2.374s] [ext: omni.kit.graph.delegate.default-1.0.18] startup [2.376s] [ext: omni.debugdraw-0.1.1] startup [2.381s] [ext: omni.kit.graph.editor.core-1.4.7] startup [2.384s] [ext: omni.hydra.pxr-1.1.2] startup [2.390s] [ext: omni.activity.core-1.0.1] startup [2.394s] [ext: omni.kit.hydra_texture-1.0.11] startup [2.400s] [ext: omni.kit.viewport.legacy_gizmos-1.0.10] startup [2.405s] [ext: omni.kit.viewport.registry-104.0.2] startup [2.406s] [ext: omni.kit.widget.viewport-104.1.16] startup [2.408s] [ext: omni.kit.window.drop_support-1.0.1] startup [2.409s] [ext: omni.kit.window.file_exporter-1.0.10] startup [2.410s] [ext: omni.hydra.engine.stats-1.0.0] startup [2.415s] [ext: omni.kit.window.content_browser_registry-0.0.1] startup [2.416s] [ext: omni.kit.window.file-1.3.32] startup [2.419s] [ext: omni.kit.viewport.window-104.1.23] startup [2.445s] [ext: omni.kit.widget.settings-1.0.1] startup [2.447s] [ext: omni.kit.widget.stage-2.7.24] startup [2.451s] [ext: omni.kit.window.content_browser-2.6.8] startup [2.463s] [ext: omni.kit.viewport.utility-1.0.14] startup [2.464s] [ext: omni.kit.window.preferences-1.3.8] startup [2.493s] [ext: omni.kit.widget.text_editor-1.0.2] startup [2.495s] [ext: omni.kit.widget.prompt-1.0.5] startup [2.496s] [ext: omni.kit.property.usd-3.18.17] startup [2.506s] [ext: omni.kit.graph.delegate.modern-1.6.5] startup [2.508s] [ext: omni.graph.ui-1.24.2] startup [2.546s] [ext: omni.physics.tensors-0.1.0] startup [2.555s] [ext: omni.kit.graph.widget.variables-2.0.4] startup [2.556s] [ext: omni.kit.graph.usd.commands-1.2.0] startup [2.557s] [ext: omni.convexdecomposition-104.2.4-5.1] startup [2.560s] [ext: omni.graph.window.core-1.43.3] startup [2.568s] [ext: omni.kit.widget.zoombar-1.0.4] startup [2.569s] [ext: omni.kvdb-0.0.0] startup [2.572s] [ext: omni.usdphysics-104.2.4-5.1] startup [2.575s] [ext: omni.localcache-0.0.0] startup [2.578s] [ext: omni.graph.scriptnode-0.10.0] startup [2.580s] [ext: omni.physx-104.2.4-5.1] startup [2.603s] [ext: omni.command.usd-1.0.2] startup [2.611s] [ext: omni.physx.tensors-0.1.0] startup [2.626s] [ext: omni.graph.window.generic-1.3.15] startup [2.630s] [ext: omni.kit.browser.core-2.2.2] startup [2.637s] [ext: omni.graph.action-1.31.1] startup [2.647s] [ext: omni.kit.browser.folder.core-1.7.3] startup [2.651s] [ext: omni.kit.window.cursor-1.1.1] startup [2.651s] [ext: omni.kit.widget.spinner-1.0.4] startup [2.653s] [ext: omni.kit.browser.sample-1.2.5] startup [2.655s] [ext: omni.graph.nodes-1.48.3] startup [2.668s] [ext: omni.kit.viewport.menubar.core-104.4.3] startup [2.681s] [ext: omni.kit.numpy.common-0.1.0] startup [2.684s] [ext: omni.warp-0.6.3] startup Warp 0.6.3 initialized: CUDA Toolkit: 11.5, Driver: 12.2 Devices: "cpu" | x86_64 "cuda:0" | NVIDIA RTX A6000 (sm_86) Kernel cache: /home/ldoorenbos/.cache/warp/0.6.3 [2.989s] [ext: omni.syntheticdata-0.2.4] startup 2023-07-27 15:21:31 [2,991ms] [Warning] [omni.kit.viewport.menubar.core.menu_item.viewport_menu_item] ViewportMenuItem order argument is deprecated, use order_setting_path [3.008s] [ext: omni.isaac.dynamic_control-1.2.3] startup [3.019s] [ext: omni.replicator.core-1.7.8] startup 2023-07-27 15:21:31 [3,030ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template [3.127s] [ext: omni.isaac.core-1.46.3] startup [3.212s] [ext: omni.kit.manipulator.viewport-104.0.7] startup [3.214s] [ext: omni.isaac.core_nodes-0.23.2] startup [3.230s] [ext: omni.isaac.cloner-0.4.1] startup [3.231s] [ext: omni.isaac.lula-1.2.1] startup [3.242s] [ext: omni.graph.visualization.nodes-2.0.0] startup [3.248s] [ext: omni.isaac.debug_draw-0.2.3] startup [3.254s] [ext: omni.isaac.gym-0.3.3] startup [3.255s] [ext: omni.graph.window.action-1.5.5] startup [3.256s] [ext: omni.isaac.ui-0.8.0] startup [3.260s] [ext: usdrt.scenegraph-4.3.2] startup [3.278s] [ext: omni.isaac.motion_planning-0.2.2] startup [3.288s] [ext: omni.isaac.surface_gripper-0.4.0] startup [3.293s] [ext: omni.isaac.range_sensor-0.8.1] startup [3.326s] [ext: omni.isaac.motion_generation-4.5.6] startup [3.332s] [ext: omni.isaac.manipulators-1.1.0] startup [3.334s] [ext: omni.isaac.sensor-5.6.3] startup 2023-07-27 15:21:31 [3,323ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor-5.6.3] Native plugin search dir contains several files: /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.sensor/bin . It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard. [3.379s] [ext: omni.isaac.dofbot-0.3.0] startup [3.380s] [ext: omni.isaac.occupancy_map-0.2.7] startup [3.394s] [ext: omni.isaac.quadruped-1.3.0] startup /home/ldoorenbos/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.core_archive/pipprebundle/numba/core/types/init.py:108: DeprecationWarning: np.long is a deprecated alias for np.compat.long. To silence this warning, use np.compat.long by itself. In the likely event your code does not need to work on Python 2 you can use the builtin int for which np.compat.long is itself an alias. Doing this will not modify any behaviour and is safe. When replacing np.long, you may wish to use e.g. np.int64 or np.int32 to specify the precision. If you wish to review your current use, check the release note link for additional information. 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There was an error running python

Any help/ideas would be much appreciated.

sambaPython24 commented 1 year ago

I encountered the same problem on Ubuntu. Did you make any progress with that problem? Could you add "Inconsistency detected by ld.so:" to the title, such that more people with the same issue are directed to this discussion?

The error appears in the line

# config = {'headless': False}
simulation_app = SimulationApp(config)

# in simulation_app.SimulationApp.__init__(config) -> create_new_stage() -> 
-> create_new_stage()

# in utils.create_new_stage() 
import omni.usd
x = omni.usd.get_context()
-> x.new_stage()

I am not sure how to continue since I do not find òmni.usd

LarsDoorenbos commented 1 year ago

No, unfortunately I have not been able to solve this.