Isaac Sim Crashes On Window Click: Troubleshooting

by SLV Team 51 views

Hey guys! It looks like you're running into a frustrating issue where your Unitree Robotics simulation in Isaac Sim starts up fine, but then immediately crashes when you try to interact with the window. That's a real pain, but don't worry, we're going to walk through some potential causes and fixes for this problem. Based on the logs you provided, there are several areas we can investigate. Let's get started!

Understanding the Problem: The Crash

First off, let's nail down exactly what's happening. You've successfully launched the simulation using the command:

python sim_main.py --device cpu  --enable_cameras  --task  Isaac-PickPlace-Cylinder-G129-Dex1-Joint    --enable_dex1_dds --robot_type g129

The simulation seems to initialize correctly, loads the necessary modules, and even sets up the environment and robot. However, the logs indicate a program exception: 'bool' object has no attribute 'nonzero' error, which likely triggers the crash when you click the window to interact with the simulation. This error suggests a problem with how the code is handling boolean values, leading to an unexpected operation and subsequent termination of the program. Let's dig deeper into the possible causes.

CUDA Driver and Warp Errors

Looking at the initial logs, there are some warnings related to CUDA and Warp:

Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)

These errors suggest that there might be an incompatibility between the installed CUDA driver and the version of Warp (a library used for GPU acceleration) that Isaac Sim is using. This is a critical area to investigate, as GPU-related issues can often cause instability and crashes. Ensure you're running a compatible driver for your GPU (NVIDIA GeForce RTX 4090, as per the log).

CPU Performance Profile

Another warning caught my eye, specifically: "CPU performance profile is set to powersave." If your CPU is set to powersave mode, this can throttle the performance and potentially cause issues, especially in a simulation that demands a lot of resources. I recommend setting your CPU performance profile to a more balanced or high-performance setting. You can usually find these options in your system's power management settings.

Troubleshooting Steps

Here's a breakdown of troubleshooting steps to resolve the crash on window click issue. These steps are in the order that I would tackle the problem.

1. Check CUDA Driver Compatibility: This is usually the first place to start. Make sure your NVIDIA drivers are up to date and are compatible with your version of Isaac Sim. You can typically find this information in the Isaac Sim documentation or release notes. Reinstalling the drivers is often a good start.

  • How to do it:
    • Go to the NVIDIA website and download the latest drivers for your RTX 4090 and operating system (Ubuntu 22.04 in your case).
    • Follow the installation instructions provided by NVIDIA. It's often best to perform a clean install, which removes any existing driver files.
    • After installation, reboot your system.

2. Verify Warp Installation: Warp is a key component for GPU acceleration in Isaac Sim. Ensure it's correctly installed and compatible with your Isaac Sim version.

  • How to do it:
    • Check the Isaac Sim documentation to confirm the Warp version required for your installation.
    • If there are any installation problems, try reinstalling it according to the official documentation, paying close attention to any dependencies.

3. Inspect the nonzero Attribute Error: The error program exception: 'bool' object has no attribute 'nonzero' suggests that somewhere in the code, a boolean value is being treated as if it has a nonzero attribute (which is for numerical data).

  • How to do it:
    • Search your project for the file or function where this error is generated. The nonzero is likely in some kind of comparison or numerical operation, and a boolean value is being passed instead of a numerical one.
    • Examine code sections in your simulation related to window interaction, actions, and the robot's control. Pay close attention to how boolean values are used. Debugging this section of your code can assist you to find the root cause, and the bug.

4. CPU Performance Profile: As mentioned earlier, verify that your CPU isn't running in a low-power mode. This can be easily overlooked and can cause a lot of headaches in the simulation world.

  • How to do it:
    • Go to your system's power settings (usually found in the system settings or control panel).
    • Change the power profile to either