demo运行问题 #129
Description
环境：
system: Ubuntu 22.04.5 LTS
GPU：3090
Driver Version: 580.105.08
宿主机未安装cuda
运行demo:
omni_python source/geniesim/app/app.py --config ./source/geniesim/config/select_color.yaml
不弹出可视化窗口，部分log如下：
2026-03-22T17:52:03Z [859ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2026-03-22T17:52:03Z [859ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2026-03-22T17:52:03Z [859ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2026-03-22T17:52:03Z [994ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2026-03-22T17:52:03Z [994ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2026-03-22T17:52:03Z [994ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2026-03-22T17:52:03Z [1,132ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
2026-03-22T17:52:04Z [2,536ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
[2.582s] [ext: omni.kit.renderer.capture-0.0.0] startup
[2.630s] [ext: omni.kit.renderer.imgui-2.0.5] startup
2026-03-22T17:52:04Z [2,621ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
2026-03-22T17:52:19Z [16,690ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-03-22T17:52:19Z [16,690ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
2026-03-22T17:52:19Z [16,693ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-03-22T17:52:19Z [16,693ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
2026-03-22T17:52:23Z [21,382ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!
2026-03-22 17:52:40,128,128 INFO [logger.py:76] [Follow] Initialized with obj_name_list=['benchmark_building_blocks_378069fe'], bbox=[0.2, 0.2, 0.2], gripper_id=right_gripper, already_followed=set()
2026-03-22 17:52:40,129,129 INFO [logger.py:76] [Follow] Initialized with obj_name_list=['benchmark_building_blocks_378069fe'], bbox=[0.2, 0.2, 0.2], gripper_id=right_gripper, already_followed=set()
Robot reset...
2026-03-22 17:52:40,240,240 INFO [logger.py:76] Finish reset robot...
[Physics Callback] 559.06 Hz
2026-03-22 17:52:41,240,240 INFO [logger.py:76] =========reset one frame========
2026-03-22T17:52:41Z [38,906ms] [Error] [omni.kit.app._impl] [py stderr]: Exception in thread Thread-1 (worker):
2026-03-22T17:52:41Z [38,906ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
2026-03-22T17:52:41Z [38,906ms] [Error] [omni.kit.app._impl] [py stderr]: File "/isaac-sim/kit/python/lib/python3.11/threading.py", line 1045, in _bootstrap_inner
2026-03-22T17:52:41Z [38,906ms] [Error] [omni.kit.app._impl] [py stderr]: self.run()
2026-03-22T17:52:41Z [38,906ms] [Error] [omni.kit.app._impl] [py stderr]: File "/isaac-sim/kit/python/lib/python3.11/threading.py", line 982, in run
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: self._target(*self._args, **self._kwargs)
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: File "/geniesim/main/source/geniesim/app/task_manager.py", line 20, in worker
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: benchmark_main(self.benchmark_config, self.api_core)
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: File "/geniesim/main/source/geniesim/benchmark/task_benchmark.py", line 444, in main
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: benchmark.evaluate_policy() # Evaluate agent on the benchmark
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^
2026-03-22T17:52:41Z [38,907ms] [Error] [omni.kit.app._impl] [py stderr]: File "/geniesim/main/source/geniesim/benchmark/task_benchmark.py", line 195, in evaluate_policy
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: self.evaluate_episode(robot_cfg, single_te)
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: File "/geniesim/main/source/geniesim/benchmark/task_benchmark.py", line 370, in evaluate_episode
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: observaion = self.env.reset() # 1st frame
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: File "/geniesim/main/source/geniesim/benchmark/envs/pi_env.py", line 132, in reset
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: obs = self.get_observation()
2026-03-22T17:52:41Z [38,908ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^^^^^
2026-03-22T17:52:41Z [38,912ms] [Error] [omni.kit.app._impl] [py stderr]: data_original_width = round(data.shape[0] / (datawindow_overscan_z - datawindow_overscan_x))
2026-03-22T17:52:41Z [38,912ms] [Error] [omni.kit.app._impl] [py stderr]: ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
2026-03-22T17:52:41Z [38,912ms] [Error] [omni.kit.app._impl] [py stderr]: TypeError: unsupported operand type(s) for -: 'NoneType' and 'NoneType'
[Physics Callback] 825.11 Hz
[Physics Callback] 857.44 Hz
[Physics Callback] 854.42 Hz
[Physics Callback] 850.61 Hz
[Physics Callback] 876.63 Hz
[Physics Callback] 828.81 Hz
[Physics Callback] 846.33 Hz
[Physics Callback] 852.35 Hz
[Physics Callback] 854.65 Hz
[Physics Callback] 858.68 Hz
[Physics Callback] 850.87 Hz
[Physics Callback] 849.85 Hz
[Physics Callback] 846.59 Hz
[Physics Callback] 863.83 Hz
[Physics Callback] 841.36 Hz
[Physics Callback] 845.34 Hz
[Physics Callback] 839.39 Hz
[Physics Callback] 836.38 Hz
[Physics Callback] 838.92 Hz
[Physics Callback] 862.60 Hz
[Physics Callback] 839.24 Hz