~/curobo$ omni_python examples/isaac_sim/collision_checker.py [Warning] [omni.isaac.kit] [Warning] [omni.isaac.kit] =========================== DEPRECATION WARNING =========================== [Warning] [omni.isaac.kit] [Warning] [omni.isaac.kit] Traceback (most recent call last): [Warning] [omni.isaac.kit] File '/home/liusong/curobo/examples/isaac_sim/collision_checker.py', line 24 [Warning] [omni.isaac.kit] from omni.isaac.kit import SimulationApp [Warning] [omni.isaac.kit] [Warning] [omni.isaac.kit] Please import 'isaacsim' before importing the 'omni.isaac.kit' extension... [Warning] [omni.isaac.kit] >>> import isaacsim [Warning] [omni.isaac.kit] >>> from omni.isaac.kit import SimulationApp [Warning] [omni.isaac.kit] [Warning] [omni.isaac.kit] or get the 'SimulationApp' class directly from the 'isaacsim' module [Warning] [omni.isaac.kit] >>> from isaacsim import SimulationApp [Warning] [omni.isaac.kit] [Warning] [omni.isaac.kit] =========================================================================== [Warning] [omni.isaac.kit] Starting kit application with the following args: ['/home/liusong/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/liusong/.local/share/ov/pkg/isaac-sim-4.0.0/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/home/liusong/.local/share/ov/pkg/isaac-sim-4.0.0/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1920', '--/app/renderer/resolution/height=1080', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/liusong/.local/share/ov/pkg/isaac-sim-4.0.0/exts', '--ext-folder', '/home/liusong/.local/share/ov/pkg/isaac-sim-4.0.0/apps', '--/physics/cudaDevice=0', '--portable'] Passing the following args to the base kit application: [] [Info] [carb] Logging to file: /home/liusong/.local/share/ov/pkg/isaac-sim-4.0.0/kit/logs/Kit/Isaac-Sim/4.0/kit_20240710_003940.log 2024-07-09 16:39:40 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [0.045s] [ext: omni.kit.async_engine-0.0.0] startup [0.402s] [ext: omni.stats-0.0.0] startup [0.403s] [ext: omni.client-1.1.0] startup [0.423s] [ext: omni.datastore-0.0.0] startup [0.424s] [ext: omni.blobkey-1.1.0] startup [0.424s] [ext: omni.ujitso.default-1.0.0] startup [0.425s] [ext: omni.hsscclient-0.0.0] startup [0.425s] [ext: omni.rtx.shadercache.vulkan-1.0.0] startup [0.426s] [ext: omni.assets.plugins-0.0.0] startup [0.428s] [ext: omni.gpu_foundation-0.0.0] startup [0.437s] [ext: carb.windowing.plugins-1.0.0] startup [0.447s] [ext: omni.kit.renderer.init-0.0.0] startup |---------------------------------------------------------------------------------------------| | Driver Version: 550.54.14 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24822 MB | 10de | 0 | | | | | | | 2204 | da1c07ae.. | | | | | | | 7 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-113-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: AMD Ryzen 9 5900X 12-Core Processor | Cores: 12 | Logical: 24 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 31971 | Free Memory: 24534 | Total Page/Swap (MB): 24151 | Free Page/Swap: 24151 |---------------------------------------------------------------------------------------------| [1.219s] [ext: omni.kit.pipapi-0.0.0] startup [1.221s] [ext: omni.kit.pip_archive-0.0.0] startup [1.222s] [ext: omni.pip.compute-1.3.1] startup [1.222s] [ext: 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[ext: omni.kit.profiler.window-2.2.1] startup 2024-07-09 16:39:46 [5,193ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.__lt__ and use insort 'key' arg instead [5.206s] [ext: omni.kit.property.audio-1.0.11] startup [5.209s] [ext: omni.isaac.cortex-0.3.8] startup [5.210s] [ext: omni.kit.window.stage-2.5.9] startup [5.215s] [ext: omni.kit.property.geometry-1.3.0] startup [5.218s] [ext: omni.kit.property.camera-1.0.6] startup [5.221s] [ext: omni.sensors.nv.common-1.0.1] startup [5.231s] [ext: omni.kit.menu.stage-1.2.5] startup [5.233s] [ext: omni.isaac.debug_draw-0.7.1] startup [5.237s] [ext: omni.sensors.nv.wpm-1.0.0] startup [5.238s] [ext: omni.sensors.nv.materials-1.0.0] startup [5.240s] [ext: omni.isaac.range_sensor-3.0.1] startup [5.250s] [ext: omni.hydra.scene_api-0.1.2] startup [5.258s] [ext: omni.sensors.nv.radar-1.0.1] startup [5.262s] [ext: omni.sensors.nv.lidar-1.0.1] startup [5.266s] [ext: omni.kit.property.render-1.1.1] startup [5.268s] [ext: omni.kit.property.transform-1.5.1] startup [5.271s] [ext: omni.kit.property.light-1.0.8] startup [5.274s] [ext: omni.isaac.sensor-11.3.0] startup [5.334s] [ext: omni.isaac.block_world-1.0.0] startup [5.341s] [ext: omni.kit.property.bundle-1.2.11] startup [5.346s] [ext: omni.kit.property.isaac-0.2.3] startup [5.351s] [ext: omni.isaac.quadruped-1.4.5] startup [5.376s] [ext: omni.isaac.occupancy_map-1.0.1] startup [5.386s] [ext: omni.rtx.window.settings-0.6.15] startup [5.402s] [ext: omni.kit.widget.live-2.1.6] startup [5.405s] [ext: omni.kit.widget.calendar-1.0.8] startup [5.408s] [ext: omni.kit.property.layer-1.1.5] startup [5.410s] [ext: omni.kit.viewport.menubar.render-106.1.2] startup [5.414s] [ext: omni.kit.viewport.menubar.settings-106.0.0] startup [5.420s] [ext: omni.kit.viewport.rtx-104.0.1] startup [5.421s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup [5.422s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup [5.430s] [ext: omni.kit.widget.timeline-105.0.1] startup [5.433s] [ext: omni.kit.window.commands-0.2.5] startup [5.434s] [ext: omni.kit.window.console-0.2.12] startup [5.441s] [ext: omni.kit.window.script_editor-1.7.6] startup [5.443s] [ext: omni.kit.menu.create-1.0.12] startup [5.445s] [ext: omni.kit.window.status_bar-0.1.6] startup [5.448s] [ext: omni.kit.window.title-1.1.3] startup [5.450s] [ext: omni.replicator.isaac-1.15.0] startup [5.465s] [ext: omni.replicator.replicator_yaml-2.0.5] startup [5.486s] [ext: omni.rtx.settings.core-0.6.0] startup [5.494s] [ext: omni.kit.stage_column.payload-2.0.0] startup [5.500s] [ext: omni.isaac.scene_blox-0.1.1] startup [5.503s] [ext: omni.kit.stage_column.variant-1.0.13] startup [5.516s] [ext: semantics.schema.editor-0.3.4] startup [5.522s] [ext: semantics.schema.property-1.0.2] startup [5.526s] [ext: omni.kit.viewport.menubar.camera-105.1.8] startup [5.538s] [ext: omni.isaac.universal_robots-0.3.5] startup [5.541s] [ext: omni.isaac.cortex.sample_behaviors-1.0.5] startup [5.545s] [ext: omni.importer.urdf-1.14.1] startup [5.599s] [ext: omni.kit.window.stats-0.1.6] startup [5.608s] [ext: omni.isaac.sim.python-4.0.0] startup [5.610s] Simulation App Starting [7.821s] app ready [8.813s] Simulation App Startup Complete [11.554s] [ext: omni.kit.asset_converter-2.1.10] startup [11.574s] [ext: omni.kit.tool.asset_importer-2.5.5] startup [11.636s] [ext: omni.kit.widget.zoombar-1.0.5] startup [11.638s] [ext: omni.kit.browser.core-2.3.11] startup [11.641s] [ext: omni.kit.browser.folder.core-1.9.12] startup [11.645s] [ext: omni.isaac.asset_browser-0.4.6] startup **** Click Play to start simulation ***** 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] Do not load cache for Robots because url changed: 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] - from http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Robots 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] - to http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/Robots 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] Do not load cache for People because url changed: 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] - from http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/People 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] - to http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/People 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] Do not load cache for Props because url changed: 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] - from http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Props 2024-07-09 16:39:53 [12,357ms] [Warning] [omni.kit.browser.folder.core.models.folder_browser_model] - to http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0/Isaac/Props