[Question] Unable to Run IsaacLab on Remote Server with RTX 5090 GPU

[LULU-LULULA]

Title: Unable to Run IsaacLab on Remote Server with RTX 5090 GPU

Description:

I successfully installed Isaac Sim and IsaacLab on my server following the official instructions. However, when I try to run ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py remotely from my local machine using VSCode, I encounter several errors. Additionally, I installed isaacsim-webrtc-streaming-client-1.0.6-linux-x64.AppImage locally to observe simulations remotely, but this attempt also failed.

System Configuration:

Server GPU: NVIDIA GeForce RTX 5090
Operating System: Ubuntu 22.04.5 LTS (Jammy Jellyfish)
Kernel Version: 6.8.0-57-generic
Driver Version: 570.133.07
Python Environment: Miniconda3 with Python 3.10
Error Logs:
Key errors include:

GLFW initialization failed multiple times.
Failed to startup plugin carb.windowing-glfw.plugin.
AttributeError: 'NoneType' object has no attribute 'get_window_minimize_event_stream'.
IRAY render warning: GPU with CUDA compute capability 12.0 is unsupported.
PhysX plugin startup failure.
Actions Taken:

Verified SSH configuration and remote connection settings in VSCode.
Checked and updated graphics drivers and necessary libraries (GLFW, etc.).
Ensured correct Python environment and path settings.
Attempted to use WebRTC streaming client for remote simulation observation.
Suspected Issues:

Potential incompatibility with the RTX 5090 GPU.
Missing software components or incorrect configurations on the server.
Possible version mismatch between installed components.
Request:
I am seeking guidance on resolving these issues to successfully run IsaacLab remotely. Any insights on additional software requirements or configurations would be greatly appreciated.

The following is my detailed error message：

2025-05-13 10:06:23 [1,158ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot
2025-05-13 10:06:24 [2,612ms] [Error] [carb.scripting-python.plugin] AttributeError: 'NoneType' object has no attribute 'get_keyboard'
At:
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(64): _attach_keyboard_events
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(57): on_startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/extension.py(116): on_startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(166): _startup_ext
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2):
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): init
/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/app/app_launcher.py(642): _create_app
/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/app/app_launcher.py(114): init
/home/mp-ml-robot/feng/isaacLab/scripts/demos/arms.py(30):

2025-05-13 10:06:24 [2,612ms] [Error] [omni.ext.plugin] [ext: omni.physx.ui-106.5.7] Failed to startup python extension.
[2.724s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[2.734s] [ext: omni.kit.property.bundle-1.3.2] startup
[2.735s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
[2.737s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
[2.756s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[2.759s] [ext: omni.physx.demos-106.5.7] startup
[2.777s] [ext: omni.kit.property.physx-106.5.7] startup
[2.809s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
[2.812s] [ext: omni.kit.window.toolbar-1.6.2] startup
[2.814s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
[2.818s] [ext: omni.physx.vehicle-106.5.7] startup
2025-05-13 10:06:24 [2,798ms] [Warning] [omni.physxui.scripts.menu] PhysicsMenu: instance is not alive, did you forget a dependency?
2025-05-13 10:06:24 [2,799ms] [Warning] [omni.physxui.scripts.menu] PhysicsMenu: instance is not alive, did you forget a dependency?
[2.831s] [ext: omni.physx.graph-106.5.7] startup
[2.839s] [ext: omni.physx.supportui-106.5.7] startup
[2.851s] [ext: omni.physx.telemetry-106.5.7] startup
[2.858s] [ext: omni.physx.camera-106.5.7] startup
[2.866s] [ext: omni.physx.cct-106.5.7] startup
[2.874s] [ext: omni.rtx.window.settings-0.6.17] startup
[2.880s] [ext: omni.usd.metrics.assembler-106.5.0] startup
[2.885s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[2.889s] [ext: omni.kit.window.status_bar-0.1.7] startup
[2.892s] [ext: omni.physx.bundle-106.5.7] startup
[2.893s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
[2.900s] [ext: omni.rtx.settings.core-0.6.3] startup
[2.904s] [ext: isaacsim.robot_motion.lula-4.0.4] startup
[2.910s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[2.913s] [ext: isaacsim.asset.browser-1.3.4] startup
[2.947s] [ext: isaacsim.gui.menu-2.0.9] startup
2025-05-13 10:06:24 [2,922ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
[2.951s] [ext: omni.kit.ui.actions-1.0.2] startup
[2.959s] [ext: omni.kit.window.console-0.2.14] startup
[2.966s] [ext: isaacsim.robot_motion.motion_generation-8.0.6] startup
[2.969s] [ext: isaaclab-0.36.3] startup
[3.052s] [ext: isaaclab_assets-0.2.1] startup
[3.155s] [ext: isaaclab_tasks-0.10.25] startup
[3.667s] [ext: omni.kit.menu.common-1.1.9] startup
[3.669s] [ext: isaaclab_rl-0.1.1] startup
[3.913s] [ext: isaaclab_mimic-1.0.3] startup
[3.913s] [ext: isaaclab.python-2.0.2] startup
[3.915s] Simulation App Starting
2025-05-13 10:06:26 [4,225ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-05-13 10:06:26 [4,226ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
[4.265s] app ready
2025-05-13 10:06:26 [4,247ms] [Error] [omni.kit.menu.utils.app_menu] Hotkeys cannot be setup without a default window
2025-05-13 10:06:26 [4,294ms] [Warning] [rtx.neuraylib.plugin] [IRAY:RENDER] 1.1 IRAY rend warn : GPU 1 (NVIDIA GeForce RTX 5090) with CUDA compute capability 12.0 is unsupported by this version of iray photoreal. Please look for an update with your software provider.
2025-05-13 10:06:26 [4,303ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 7508933632
2025-05-13 10:06:26 [4,303ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-05-13 10:06:26 [4,303ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 7433845248
2025-05-13 10:06:26 [4,303ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 9574251 (slope: 447, intercept: 13179904)
2025-05-13 10:06:26 [4,303ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4287216384
2025-05-13 10:06:26 [4,303ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-05-13 10:06:26 [4,514ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
[6.430s] Simulation App Startup Complete
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/torch/cuda/init.py:235: UserWarning:
NVIDIA GeForce RTX 5090 with CUDA capability sm_120 is not compatible with the current PyTorch installation.
The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_70 sm_75 sm_80 sm_86 sm_90.
If you want to use the NVIDIA GeForce RTX 5090 GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/

warnings.warn(
[6.475s] [ext: omni.physx.fabric-106.5.7] startup
Traceback (most recent call last):
File "/home/mp-ml-robot/feng/isaacLab/scripts/demos/arms.py", line 231, in
main()
File "/home/mp-ml-robot/feng/isaacLab/scripts/demos/arms.py", line 219, in main
scene_entities, scene_origins = design_scene()
File "/home/mp-ml-robot/feng/isaacLab/scripts/demos/arms.py", line 79, in design_scene
cfg.func("/World/defaultGroundPlane", cfg)
File "/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py", line 137, in spawn_ground_plane
prim_utils.create_prim(prim_path, usd_path=cfg.usd_path, translation=translation, orientation=orientation)
File "/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/prims.py", line 739, in create_prim
XFormPrim(prim_path, positions=position, translations=translation, orientations=orientation, scales=scale)
File "/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py", line 147, in init
self._set_xform_properties()
File "/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py", line 1205, in _set_xform_properties
current_positions, current_orientations = self.get_world_poses()
File "/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py", line 699, in get_world_poses
indices = self._backend_utils.resolve_indices(indices, self.count, self._device)
File "/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/tensor.py", line 54, in resolve_indices
result = torch.arange(count, device=device)
RuntimeError: CUDA error: no kernel image is available for execution on the device
CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect.
For debugging consider passing CUDA_LAUNCH_BLOCKING=1
Compile with TORCH_USE_CUDA_DSA to enable device-side assertions.

2025-05-13 10:06:29 [7,516ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2025-05-13 10:06:29 [7,516ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal

2025-05-13 10:06:29 [7,522ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-05-13 10:06:29 [7,522ms] [Warning] [carb.audio.context] 1 contexts were leaked
2025-05-13 10:06:29 [7,570ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
(skyrobot) mp-ml-robot@mpmlrobot-MS-7E19:/feng/isaacLab$ pip install --upgrade --pre torch torchvision --index-url https://download.pytorch.org/whl/nightly/cu128
Looking in indexes: https://download.pytorch.org/whl/nightly/cu128
Requirement already satisfied: torch in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (2.5.1)
Collecting torch
Using cached https://download.pytorch.org/whl/nightly/cu128/torch-2.8.0.dev20250512%2Bcu128-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (30 kB)
Requirement already satisfied: torchvision in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (0.20.1)
Collecting torchvision
Using cached https://download.pytorch.org/whl/nightly/cu128/torchvision-0.22.0.dev20250512%2Bcu128-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (6.2 kB)
Requirement already satisfied: filelock in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (3.13.1)
Requirement already satisfied: typing-extensions>=4.10.0 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (4.12.2)
Collecting sympy>=1.13.3 (from torch)
Using cached https://download.pytorch.org/whl/nightly/sympy-1.13.3-py3-none-any.whl (6.2 MB)
Requirement already satisfied: networkx in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (3.3)
Requirement already satisfied: jinja2 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (3.1.4)
Requirement already satisfied: fsspec in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (2024.6.1)
Collecting nvidia-cuda-nvrtc-cu12==12.8.61 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cuda_nvrtc_cu12-12.8.61-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl.metadata (1.7 kB)
Collecting nvidia-cuda-runtime-cu12==12.8.57 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cuda_runtime_cu12-12.8.57-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (1.7 kB)
Collecting nvidia-cuda-cupti-cu12==12.8.57 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cuda_cupti_cu12-12.8.57-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (1.7 kB)
Collecting nvidia-cudnn-cu12==9.8.0.87 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cudnn_cu12-9.8.0.87-py3-none-manylinux_2_27_x86_64.whl.metadata (1.8 kB)
Collecting nvidia-cublas-cu12==12.8.3.14 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cublas_cu12-12.8.3.14-py3-none-manylinux_2_27_x86_64.whl.metadata (1.7 kB)
Collecting nvidia-cufft-cu12==11.3.3.41 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cufft_cu12-11.3.3.41-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-curand-cu12==10.3.9.55 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_curand_cu12-10.3.9.55-py3-none-manylinux_2_27_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-cusolver-cu12==11.7.2.55 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cusolver_cu12-11.7.2.55-py3-none-manylinux_2_27_x86_64.whl.metadata (1.6 kB)
Collecting nvidia-cusparse-cu12==12.5.7.53 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cusparse_cu12-12.5.7.53-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (1.6 kB)
Requirement already satisfied: nvidia-cusparselt-cu12==0.6.3 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (0.6.3)
Collecting nvidia-nccl-cu12==2.26.2 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_nccl_cu12-2.26.2-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (2.0 kB)
Collecting nvidia-nvtx-cu12==12.8.55 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_nvtx_cu12-12.8.55-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (1.6 kB)
Collecting nvidia-nvjitlink-cu12==12.8.61 (from torch)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_nvjitlink_cu12-12.8.61-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl.metadata (1.7 kB)
Requirement already satisfied: nvidia-cufile-cu12==1.13.0.11 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (1.13.0.11)
Requirement already satisfied: pytorch-triton==3.3.0+git96316ce5 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torch) (3.3.0+git96316ce5)
Requirement already satisfied: setuptools>=40.8.0 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from pytorch-triton==3.3.0+git96316ce5->torch) (78.1.1)
Requirement already satisfied: numpy in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torchvision) (1.26.4)
Requirement already satisfied: pillow!=8.3.*,>=5.3.0 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from torchvision) (11.0.0)
Requirement already satisfied: mpmath<1.4,>=1.1.0 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from sympy>=1.13.3->torch) (1.3.0)
Requirement already satisfied: MarkupSafe>=2.0 in /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages (from jinja2->torch) (2.1.5)
Using cached https://download.pytorch.org/whl/nightly/cu128/torch-2.8.0.dev20250512%2Bcu128-cp310-cp310-manylinux_2_28_x86_64.whl (1044.2 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cublas_cu12-12.8.3.14-py3-none-manylinux_2_27_x86_64.whl (609.6 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cuda_cupti_cu12-12.8.57-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (10.2 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cuda_nvrtc_cu12-12.8.61-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl (88.0 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cuda_runtime_cu12-12.8.57-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (954 kB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cudnn_cu12-9.8.0.87-py3-none-manylinux_2_27_x86_64.whl (698.0 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cufft_cu12-11.3.3.41-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (193.1 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_curand_cu12-10.3.9.55-py3-none-manylinux_2_27_x86_64.whl (63.6 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cusolver_cu12-11.7.2.55-py3-none-manylinux_2_27_x86_64.whl (260.4 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_cusparse_cu12-12.5.7.53-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (292.1 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_nccl_cu12-2.26.2-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (201.3 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_nvjitlink_cu12-12.8.61-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl (39.2 MB)
Using cached https://download.pytorch.org/whl/nightly/cu128/nvidia_nvtx_cu12-12.8.55-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (89 kB)
Using cached https://download.pytorch.org/whl/nightly/cu128/torchvision-0.22.0.dev20250512%2Bcu128-cp310-cp310-manylinux_2_28_x86_64.whl (8.7 MB)
Installing collected packages: sympy, nvidia-nvtx-cu12, nvidia-nvjitlink-cu12, nvidia-nccl-cu12, nvidia-curand-cu12, nvidia-cuda-runtime-cu12, nvidia-cuda-nvrtc-cu12, nvidia-cuda-cupti-cu12, nvidia-cublas-cu12, nvidia-cusparse-cu12, nvidia-cufft-cu12, nvidia-cudnn-cu12, nvidia-cusolver-cu12, torch, torchvision
Attempting uninstall: sympy
Found existing installation: sympy 1.13.1
Uninstalling sympy-1.13.1:
Successfully uninstalled sympy-1.13.1
Attempting uninstall: nvidia-nvtx-cu12
Found existing installation: nvidia-nvtx-cu12 12.4.127
Uninstalling nvidia-nvtx-cu12-12.4.127:
Successfully uninstalled nvidia-nvtx-cu12-12.4.127
Attempting uninstall: nvidia-nvjitlink-cu12
Found existing installation: nvidia-nvjitlink-cu12 12.4.127
Uninstalling nvidia-nvjitlink-cu12-12.4.127:
Successfully uninstalled nvidia-nvjitlink-cu12-12.4.127
Attempting uninstall: nvidia-nccl-cu12
Found existing installation: nvidia-nccl-cu12 2.21.5
Uninstalling nvidia-nccl-cu12-2.21.5:
Successfully uninstalled nvidia-nccl-cu12-2.21.5
Attempting uninstall: nvidia-curand-cu12
Found existing installation: nvidia-curand-cu12 10.3.5.147
Uninstalling nvidia-curand-cu12-10.3.5.147:
Successfully uninstalled nvidia-curand-cu12-10.3.5.147
Attempting uninstall: nvidia-cuda-runtime-cu12
Found existing installation: nvidia-cuda-runtime-cu12 12.4.127
Uninstalling nvidia-cuda-runtime-cu12-12.4.127:
Successfully uninstalled nvidia-cuda-runtime-cu12-12.4.127
Attempting uninstall: nvidia-cuda-nvrtc-cu12
Found existing installation: nvidia-cuda-nvrtc-cu12 12.4.127
Uninstalling nvidia-cuda-nvrtc-cu12-12.4.127:
Successfully uninstalled nvidia-cuda-nvrtc-cu12-12.4.127
Attempting uninstall: nvidia-cuda-cupti-cu12
Found existing installation: nvidia-cuda-cupti-cu12 12.4.127
Uninstalling nvidia-cuda-cupti-cu12-12.4.127:
Successfully uninstalled nvidia-cuda-cupti-cu12-12.4.127
Attempting uninstall: nvidia-cublas-cu12
Found existing installation: nvidia-cublas-cu12 12.4.5.8
Uninstalling nvidia-cublas-cu12-12.4.5.8:
Successfully uninstalled nvidia-cublas-cu12-12.4.5.8
Attempting uninstall: nvidia-cusparse-cu12
Found existing installation: nvidia-cusparse-cu12 12.3.1.170
Uninstalling nvidia-cusparse-cu12-12.3.1.170:
Successfully uninstalled nvidia-cusparse-cu12-12.3.1.170
Attempting uninstall: nvidia-cufft-cu12
Found existing installation: nvidia-cufft-cu12 11.2.1.3
Uninstalling nvidia-cufft-cu12-11.2.1.3:
Successfully uninstalled nvidia-cufft-cu12-11.2.1.3
Attempting uninstall: nvidia-cudnn-cu12
Found existing installation: nvidia-cudnn-cu12 9.1.0.70
Uninstalling nvidia-cudnn-cu12-9.1.0.70:
Successfully uninstalled nvidia-cudnn-cu12-9.1.0.70
Attempting uninstall: nvidia-cusolver-cu12
Found existing installation: nvidia-cusolver-cu12 11.6.1.9
Uninstalling nvidia-cusolver-cu12-11.6.1.9:
Successfully uninstalled nvidia-cusolver-cu12-11.6.1.9
Attempting uninstall: torch
Found existing installation: torch 2.5.1
Uninstalling torch-2.5.1:
Successfully uninstalled torch-2.5.1
Attempting uninstall: torchvision
Found existing installation: torchvision 0.20.1
Uninstalling torchvision-0.20.1:
Successfully uninstalled torchvision-0.20.1
ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.
isaaclab 0.36.3 requires torch==2.5.1, but you have torch 2.8.0.dev20250512+cu128 which is incompatible.
isaaclab-rl 0.1.1 requires torch==2.5.1, but you have torch 2.8.0.dev20250512+cu128 which is incompatible.
isaaclab-tasks 0.10.25 requires torch==2.5.1, but you have torch 2.8.0.dev20250512+cu128 which is incompatible.
skyentific-poclegs 0.10.22 requires torch==2.5.1, but you have torch 2.8.0.dev20250512+cu128 which is incompatible.
Successfully installed nvidia-cublas-cu12-12.8.3.14 nvidia-cuda-cupti-cu12-12.8.57 nvidia-cuda-nvrtc-cu12-12.8.61 nvidia-cuda-runtime-cu12-12.8.57 nvidia-cudnn-cu12-9.8.0.87 nvidia-cufft-cu12-11.3.3.41 nvidia-curand-cu12-10.3.9.55 nvidia-cusolver-cu12-11.7.2.55 nvidia-cusparse-cu12-12.5.7.53 nvidia-nccl-cu12-2.26.2 nvidia-nvjitlink-cu12-12.8.61 nvidia-nvtx-cu12-12.8.55 sympy-1.13.3 torch-2.8.0.dev20250512+cu128 torchvision-0.22.0.dev20250512+cu128
(skyrobot) mp-ml-robot@mpmlrobot-MS-7E19:/feng/isaacLab$ ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py
[INFO] Using python from: /home/mp-ml-robot/miniconda3/envs/skyrobot/bin/python
[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the AppLauncher.add_app_launcher_args method. This allows the method to check the validity of the arguments and perform checks for argument names.
[INFO][AppLauncher]: Loading experience file: /home/mp-ml-robot/feng/isaacLab/apps/isaaclab.python.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: /home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.5/kit_20250513_181020.log
2025-05-13 10:10:20 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.048s] [ext: omni.kit.async_engine-0.0.1] startup
[0.105s] [ext: omni.metrics.core-0.0.1] startup
[0.106s] [ext: omni.client.lib-1.0.0] startup
[0.128s] [ext: omni.blobkey-1.1.2] startup
[0.128s] [ext: omni.stats-1.0.1] startup
[0.128s] [ext: omni.datastore-0.0.0] startup
[0.132s] [ext: omni.client-1.2.2] startup
[0.188s] [ext: omni.ujitso.default-1.0.0] startup
[0.191s] [ext: omni.hsscclient-1.1.1] startup
[0.193s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.196s] [ext: omni.assets.plugins-0.0.0] startup
[0.196s] [ext: omni.gpu_foundation-0.0.0] startup
[0.201s] [ext: carb.windowing.plugins-1.0.0] startup
2025-05-13 10:10:20 [174ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-05-13 10:10:20 [174ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[0.201s] [ext: omni.kit.renderer.init-0.0.0] startup
2025-05-13 10:10:20 [182ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
MESA: warning: Driver does not support the 0x7d67 PCI ID.
MESA: warning: Driver does not support the 0x7d67 PCI ID.
2025-05-13 10:10:20 [315ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-05-13 10:10:20 [315ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)

|---------------------------------------------------------------------------------------------|
| Driver Version: 570.133.07 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
| | | | | | 2b85 | 2d6d00f7.. |
| | | | | | 2 | |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-57-generic
| Processor: Intel(R) Core(TM) Ultra 9 285K
| Cores: 24 | Logical Cores: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 63723 | Free Memory: 55929
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2025-05-13 10:10:21 [709ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
[0.837s] [ext: omni.kit.pipapi-0.0.0] startup
[0.838s] [ext: omni.materialx.libs-1.0.6] startup
[0.842s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.842s] [ext: omni.kit.loop-isaac-1.2.1] startup
[0.842s] [ext: omni.kit.test-1.1.2] startup
[0.863s] [ext: omni.usd.config-1.0.5] startup
[0.865s] [ext: omni.gpucompute.plugins-0.0.0] startup
[0.865s] [ext: omni.usd.libs-1.0.1] startup
[0.907s] [ext: omni.mdl-55.0.1] startup
[0.917s] [ext: omni.iray.libs-0.0.0] startup
[0.920s] [ext: omni.mdl.neuraylib-0.2.10] startup
[0.921s] [ext: omni.kit.usd.mdl-1.0.7] startup
[0.976s] [ext: omni.kit.telemetry-0.5.1] startup
[0.990s] [ext: omni.appwindow-1.1.9] startup
2025-05-13 10:10:21 [965ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-05-13 10:10:21 [965ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-05-13 10:10:21 [966ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-05-13 10:10:21 [966ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-05-13 10:10:21 [966ms] [Error] [omni.appwindow.plugin] Failed to acquire IWindowing interface
2025-05-13 10:10:21 [966ms] [Error] [omni.appwindow.plugin] IAppWindow::startup failed
[0.994s] [ext: omni.kit.renderer.core-1.0.2] startup
2025-05-13 10:10:21 [988ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-05-13 10:10:21 [988ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
[1.016s] [ext: omni.kit.renderer.capture-0.0.0] startup
[1.017s] [ext: omni.kit.renderer.imgui-1.0.2] startup
2025-05-13 10:10:21 [992ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2025-05-13 10:10:21 [992ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2025-05-13 10:10:21 [993ms] [Warning] [omni.ui.windowmanager.plugin] Failed to set app window for default window set!
[1.021s] [ext: omni.ui-2.26.5] startup
[1.027s] [ext: omni.kit.mainwindow-1.0.3] startup
[1.028s] [ext: carb.audio-0.1.0] startup
[1.030s] [ext: omni.uiaudio-1.0.0] startup
[1.030s] [ext: omni.kit.uiapp-0.0.0] startup
[1.030s] [ext: omni.usd.schema.metrics.assembler-106.5.0] startup
[1.035s] [ext: omni.usd.schema.semantics-0.0.0] startup
[1.037s] [ext: omni.usd.schema.audio-0.0.0] startup
[1.039s] [ext: isaacsim.robot.schema-3.1.2] startup
[1.043s] [ext: omni.usd.schema.physx-106.5.7] startup
[1.059s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[1.063s] [ext: omni.usd.schema.forcefield-106.5.7] startup
[1.066s] [ext: omni.usd.schema.anim-0.0.0] startup
[1.076s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[1.078s] [ext: omni.usd_resolver-1.0.0] startup
[1.080s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[1.082s] [ext: usdrt.scenegraph-7.5.1] startup
[1.102s] [ext: omni.timeline-1.0.11] startup
[1.103s] [ext: omni.usd.core-1.4.2] startup
[1.104s] [ext: omni.resourcemonitor-107.0.0] startup
[1.105s] [ext: omni.activity.core-1.0.1] startup
[1.106s] [ext: omni.kit.widget.nucleus_connector-1.1.10] startup
[1.107s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
[1.113s] [ext: omni.kit.actions.core-1.0.0] startup
[1.115s] [ext: omni.graph.exec-0.9.4] startup
[1.115s] [ext: omni.kit.commands-1.4.9] startup
[1.120s] [ext: omni.kit.usd_undo-0.1.8] startup
[1.121s] [ext: omni.kit.exec.core-0.13.4] startup
[1.127s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
[1.129s] [ext: omni.hydra.scene_delegate-0.3.3] startup
[1.131s] [ext: omni.usd-1.12.4] startup
[1.162s] [ext: omni.kit.asset_converter-2.8.3] startup
[1.169s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[1.172s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[1.174s] [ext: omni.kit.helper.file_utils-0.1.9] startup
[1.175s] [ext: omni.kit.menu.core-1.1.2] startup
[1.175s] [ext: omni.kit.widget.path_field-2.0.11] startup
[1.176s] [ext: omni.ui.scene-1.11.2] startup
[1.179s] [ext: omni.kit.widget.options_button-1.0.3] startup
[1.179s] [ext: omni.kit.widget.filebrowser-2.10.52] startup
[1.182s] [ext: omni.kit.widget.context_menu-1.2.4] startup
[1.183s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
[1.183s] [ext: omni.kit.notification_manager-1.0.9] startup
[1.184s] [ext: omni.kit.clipboard-1.0.5] startup
[1.185s] [ext: omni.kit.window.filepicker-2.11.7] startup
[1.190s] [ext: omni.kit.window.file_exporter-1.0.31] startup
[1.191s] [ext: omni.kit.hotkeys.core-1.3.10] startup
[1.193s] [ext: omni.kit.widget.filter-1.1.4] startup
[1.193s] [ext: omni.kit.usd.layers-2.2.0] startup
[1.197s] [ext: omni.kit.window.file_importer-1.1.14] startup
[1.198s] [ext: omni.kit.stage_template.core-1.1.22] startup
[1.198s] [ext: omni.kit.context_menu-1.8.3] startup
[1.199s] [ext: omni.kit.window.file-1.3.57] startup
[1.200s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[1.201s] [ext: omni.kit.window.drop_support-1.0.4] startup
[1.201s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
[1.201s] [ext: omni.kit.menu.utils-1.7.7] startup
[1.204s] [ext: omni.kit.widget.stage-2.11.6] startup
[1.208s] [ext: omni.kit.window.content_browser-2.10.3] startup
2025-05-13 10:10:21 [1,188ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
[1.215s] [ext: omni.kit.property.adapter.core-1.0.2] startup
[1.216s] [ext: omni.inspect-1.0.1] startup
[1.217s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
[1.217s] [ext: omni.graph.core-2.181.8] startup
[1.219s] [ext: omni.index.libs-380600.1777.0] startup
[1.219s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
[1.219s] [ext: omni.ujitso.processor.texture-1.0.0] startup
[1.220s] [ext: isaacsim.core.deprecation_manager-0.2.2] startup
[1.220s] [ext: omni.index-1.0.1] startup
[1.221s] [ext: omni.kvdb-106.5.7] startup
[1.221s] [ext: omni.ujitso.client-0.0.0] startup
[1.222s] [ext: isaacsim.core.version-2.0.2] startup
[1.222s] [ext: omni.volume-0.5.0] startup
[1.225s] [ext: omni.localcache-106.5.7] startup
[1.226s] [ext: omni.usdphysics-106.5.7] startup
[1.228s] [ext: isaacsim.storage.native-1.0.6] startup
[1.228s] [ext: omni.hydra.rtx-1.0.0] startup
2025-05-13 10:10:21 [1,205ms] [Warning] [omni.log] Source: omni.hydra was already registered.
[1.240s] [ext: omni.convexdecomposition-106.5.7] startup
[1.243s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
[1.243s] [ext: omni.physx.foundation-106.5.7] startup
[1.244s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
[1.245s] [ext: omni.kit.menu.create-1.0.17] startup
[1.246s] [ext: omni.kit.window.property-1.11.5] startup
[1.247s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
[1.247s] [ext: omni.kit.widget.settings-1.2.2] startup
[1.249s] [ext: omni.physx.cooking-106.5.7] startup
[1.253s] [ext: omni.kit.property.usd-4.2.16] startup
[1.258s] [ext: omni.kit.window.preferences-1.7.0] startup
[1.260s] [ext: omni.physx-106.5.7] startup
[1.267s] [ext: omni.kit.scripting-106.5.2] startup
[1.269s] [ext: isaacsim.core.throttling-2.0.2] startup
[1.270s] [ext: isaacsim.replicator.behavior-1.0.8] startup
[1.270s] [ext: omni.kit.hydra_texture-1.4.0] startup
[1.272s] [ext: isaacsim.app.about-2.0.7] startup
[1.275s] [ext: isaacsim.gui.property-1.0.4] startup
[1.298s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[1.299s] [ext: semantics.schema.editor-0.3.10] startup
[1.300s] [ext: semantics.schema.property-1.0.5] startup
[1.300s] [ext: omni.graph.action_core-1.1.7] startup
[1.302s] [ext: omni.kit.numpy.common-0.1.2] startup
[1.303s] [ext: omni.hydra.engine.stats-1.0.3] startup
[1.304s] [ext: omni.kit.material.library-1.5.15] startup
[1.307s] [ext: omni.kit.raycast.query-1.0.5] startup
[1.310s] [ext: omni.kit.viewport.legacy_gizmos-1.0.16] startup
[1.312s] [ext: omni.kit.viewport.scene_camera_model-1.0.5] startup
[1.314s] [ext: omni.graph.image.core-0.6.0] startup
[1.315s] [ext: omni.graph.tools-1.79.1] startup
[1.325s] [ext: omni.kit.viewport.registry-104.0.6] startup
[1.325s] [ext: omni.kit.widget.viewport-107.0.7] startup
[1.327s] [ext: omni.physx.stageupdate-106.5.7] startup
[1.329s] [ext: omni.graph.image.nodes-1.3.0] startup
[1.330s] [ext: omni.kit.viewport.menubar.core-107.1.2] startup
[1.335s] [ext: omni.kit.viewport.window-107.0.8] startup
2025-05-13 10:10:21 [1,310ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-05-13 10:10:21 [1,310ms] [Error] [omni.ui.python] AttributeError: 'NoneType' object has no attribute 'get_window_minimize_event_stream'

At:
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/window.py(136): init
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(203): __show_window
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(139):
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(141): init
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(250):
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/menu_entry.py(249): create_viewport_window_menu
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.viewport.window-107.0.8+d02c707b/omni/kit/viewport/window/extension.py(37): on_startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(164): _startup_ext
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2):
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): init
/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/app/app_launcher.py(642): _create_app
/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/app/app_launcher.py(114): init
/home/mp-ml-robot/feng/isaacLab/scripts/tutorials/00_sim/create_empty.py(29):

[1.343s] [ext: omni.isaac.dynamic_control-1.3.15] startup
2025-05-13 10:10:21 [1,319ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
[1.346s] [ext: omni.physics.tensors-106.5.7] startup
[1.351s] [ext: omni.warp.core-1.5.0] startup
[1.422s] [ext: omni.kit.viewport.utility-1.0.18] startup
[1.423s] [ext: omni.graph-1.140.2] startup
[1.444s] [ext: omni.physx.tensors-106.5.7] startup
[1.449s] [ext: isaacsim.core.utils-2.2.8] startup
[1.450s] [ext: omni.syntheticdata-0.6.10] startup
[1.464s] [ext: isaacsim.core.simulation_manager-0.3.3] startup
[2.121s] [ext: omni.kit.widget.graph-1.12.17] startup
[2.128s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
[2.129s] [ext: omni.ui_query-1.1.7] startup
[2.130s] [ext: isaacsim.core.prims-0.3.7] startup
[2.139s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
[2.140s] [ext: omni.graph.visualization.nodes-2.1.1] startup
[2.144s] [ext: omni.kit.ui_test-1.3.3] startup
[2.147s] [ext: omni.graph.action_nodes-1.40.1] startup
[2.150s] [ext: omni.kit.graph.editor.core-1.5.3] startup
[2.155s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
[2.157s] [ext: omni.kit.widget.text_editor-1.0.2] startup
[2.162s] [ext: omni.graph.action-1.120.0] startup
[2.163s] [ext: omni.kit.primitive.mesh-1.0.17] startup
[2.167s] [ext: omni.graph.nodes-1.162.1] startup
[2.174s] [ext: omni.graph.scriptnode-1.40.1] startup
[2.176s] [ext: omni.kit.window.extensions-1.4.25] startup
[2.185s] [ext: omni.kit.stage_templates-1.2.6] startup
[2.190s] [ext: omni.warp-1.5.0] startup
[2.198s] [ext: omni.kit.window.material_graph-1.8.19] startup
[2.241s] [ext: isaacsim.gui.components-1.0.9] startup
[2.253s] [ext: isaacsim.core.api-4.2.16] startup
[2.263s] [ext: omni.replicator.core-1.11.35] startup
2025-05-13 10:10:22 [2,284ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
[2.313s] [ext: isaacsim.robot.surface_gripper-2.0.6] startup
[2.322s] [ext: isaacsim.core.nodes-2.1.4] startup
[2.333s] [ext: isaacsim.core.cloner-1.3.4] startup
[2.339s] [ext: isaacsim.robot.manipulators-3.0.4] startup
[2.346s] [ext: omni.kit.widget.prompt-1.0.7] startup
[2.352s] [ext: isaacsim.sensors.camera-0.2.9] startup
[2.362s] [ext: isaacsim.util.debug_draw-2.0.2] startup
[2.373s] [ext: omni.kit.tool.asset_importer-2.12.2] startup
[2.392s] [ext: omni.sensors.nv.common-2.5.0-coreapi] startup
[2.404s] [ext: isaacsim.sensors.physx-2.2.4] startup
[2.416s] [ext: isaacsim.asset.importer.mjcf-2.3.3] startup
[2.457s] [ext: omni.sensors.nv.materials-1.4.0-coreapi] startup
[2.466s] [ext: isaacsim.simulation_app-2.4.2] startup
[2.466s] [ext: omni.anim.curve.core-1.2.0] startup
[2.474s] [ext: omni.graph.ui_nodes-1.40.1] startup
[2.478s] [ext: omni.sensors.nv.wpm-2.4.0-coreapi] startup
[2.480s] [ext: omni.sensors.nv.ids-1.4.0-coreapi] startup
[2.483s] [ext: omni.kit.manipulator.transform-106.0.1] startup
[2.486s] [ext: omni.kit.widget.toolbar-1.7.3] startup
[2.493s] [ext: omni.sensors.nv.lidar-2.6.3-coreapi] startup
[2.497s] [ext: omni.sensors.nv.radar-2.6.1-coreapi] startup
[2.501s] [ext: omni.sensors.tiled-0.0.6] startup
[2.503s] [ext: omni.kit.manipulator.selector-1.1.1] startup
[2.504s] [ext: omni.kit.manipulator.tool.snap-1.5.12] startup
[2.509s] [ext: omni.kit.selection-0.1.5] startup
[2.510s] [ext: omni.kit.manipulator.camera-106.0.3] startup
[2.512s] [ext: isaacsim.sensors.rtx-13.6.3] startup
[2.516s] [ext: omni.kit.widget.zoombar-1.0.5] startup
[2.518s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
[2.520s] [ext: omni.kit.menu.edit-1.1.25] startup
[2.526s] [ext: omni.fabric.commands-1.1.5] startup
[2.528s] [ext: omni.kit.widget.stage_icons-1.0.6] startup
[2.530s] [ext: omni.kit.browser.core-2.3.11] startup
[2.536s] [ext: omni.kit.manipulator.prim.core-107.0.7] startup
[2.540s] [ext: omni.kit.menu.file-1.1.15] startup
[2.541s] [ext: omni.kit.usd.collect-2.2.22] startup
[2.543s] [ext: omni.kit.window.stage-2.5.11] startup
[2.547s] [ext: omni.kit.browser.folder.core-1.10.1] startup
[2.550s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
[2.552s] [ext: omni.kit.property.camera-1.0.9] startup
[2.554s] [ext: omni.kit.property.audio-1.0.16] startup
[2.556s] [ext: omni.kit.tool.collect-2.2.16] startup
[2.557s] [ext: omni.kit.menu.stage-1.2.5] startup
[2.559s] [ext: isaacsim.sensors.physics-0.3.5] startup
[2.563s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
[2.565s] [ext: isaacsim.examples.browser-0.1.8] startup
[2.568s] [ext: omni.kit.viewport.actions-107.0.0] startup
[2.572s] [ext: omni.kit.manipulator.prim-107.0.0] startup
[2.572s] [ext: omni.kit.widget.layers-1.8.2] startup
[2.588s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
[2.590s] [ext: omni.kit.manipulator.selection-106.0.1] startup
[2.592s] [ext: omni.debugdraw-0.1.3] startup
[2.595s] [ext: omni.hydra.scene_api-0.1.2] startup
[2.598s] [ext: omni.kit.property.light-1.0.11] startup
[2.599s] [ext: omni.usdphysics.ui-106.5.7] startup
[2.616s] [ext: omni.physx.commands-106.5.7] startup
[2.619s] [ext: omni.kit.property.transform-1.5.10] startup
[2.621s] [ext: omni.kit.property.render-1.1.3] startup
[2.623s] [ext: omni.kit.property.material-1.10.17] startup
[2.626s] [ext: omni.kit.property.geometry-1.3.3] startup
[2.629s] [ext: omni.physx.ui-106.5.7] startup
2025-05-13 10:10:23 [2,620ms] [Error] [carb.scripting-python.plugin] AttributeError: 'NoneType' object has no attribute 'get_keyboard'

At:
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(64): _attach_keyboard_events
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/physxViewportOverlays.py(57): on_startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/extsPhysics/omni.physx.ui/omni/physxui/scripts/extension.py(116): on_startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(166): _startup_ext
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(224): startup
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/omni/kernel/py/omni/ext/_impl/_internal.py(328): startup_extension
PythonExtension.cpp::startup()(2):
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(427): _start_app
/home/mp-ml-robot/miniconda3/envs/skyrobot/lib/python3.10/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(212): init
/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/app/app_launcher.py(642): _create_app
/home/mp-ml-robot/feng/isaacLab/source/isaaclab/isaaclab/app/app_launcher.py(114): init
/home/mp-ml-robot/feng/isaacLab/scripts/tutorials/00_sim/create_empty.py(29):

2025-05-13 10:10:23 [2,620ms] [Error] [omni.ext.plugin] [ext: omni.physx.ui-106.5.7] Failed to startup python extension.
[2.730s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
[2.738s] [ext: omni.kit.property.bundle-1.3.2] startup
[2.739s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
[2.740s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
[2.759s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
[2.767s] [ext: omni.physx.demos-106.5.7] startup
[2.779s] [ext: omni.kit.property.physx-106.5.7] startup
[2.807s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
[2.810s] [ext: omni.kit.window.toolbar-1.6.2] startup
[2.812s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
[2.816s] [ext: omni.physx.vehicle-106.5.7] startup
2025-05-13 10:10:23 [2,796ms] [Warning] [omni.physxui.scripts.menu] PhysicsMenu: instance is not alive, did you forget a dependency?
2025-05-13 10:10:23 [2,796ms] [Warning] [omni.physxui.scripts.menu] PhysicsMenu: instance is not alive, did you forget a dependency?
[2.828s] [ext: omni.physx.graph-106.5.7] startup
[2.839s] [ext: omni.physx.supportui-106.5.7] startup
[2.854s] [ext: omni.physx.telemetry-106.5.7] startup
[2.858s] [ext: omni.physx.camera-106.5.7] startup
[2.869s] [ext: omni.physx.cct-106.5.7] startup
[2.878s] [ext: omni.rtx.window.settings-0.6.17] startup
[2.885s] [ext: omni.usd.metrics.assembler-106.5.0] startup
[2.892s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
[2.896s] [ext: omni.kit.window.status_bar-0.1.7] startup
[2.899s] [ext: omni.physx.bundle-106.5.7] startup
[2.900s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
[2.907s] [ext: omni.rtx.settings.core-0.6.3] startup
[2.912s] [ext: isaacsim.robot_motion.lula-4.0.4] startup
[2.920s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
[2.923s] [ext: isaacsim.asset.browser-1.3.4] startup
[2.957s] [ext: isaacsim.gui.menu-2.0.9] startup
2025-05-13 10:10:23 [2,933ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
[2.962s] [ext: omni.kit.ui.actions-1.0.2] startup
[2.966s] [ext: omni.kit.window.console-0.2.14] startup
[2.972s] [ext: isaacsim.robot_motion.motion_generation-8.0.6] startup
[2.975s] [ext: isaaclab-0.36.3] startup
[3.059s] [ext: isaaclab_assets-0.2.1] startup
[3.162s] [ext: isaaclab_tasks-0.10.25] startup
[3.670s] [ext: omni.kit.menu.common-1.1.9] startup
[3.671s] [ext: isaaclab_rl-0.1.1] startup
[3.911s] [ext: isaaclab_mimic-1.0.3] startup
[3.912s] [ext: isaaclab.python-2.0.2] startup
[3.914s] Simulation App Starting
2025-05-13 10:10:24 [4,225ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
2025-05-13 10:10:24 [4,226ms] [Error] [omni.kit.window.drop_support.drop_support] Cannot setup ExternalDragDrop without a default window
[4.265s] app ready
2025-05-13 10:10:24 [4,246ms] [Error] [omni.kit.menu.utils.app_menu] Hotkeys cannot be setup without a default window
2025-05-13 10:10:24 [4,301ms] [Warning] [rtx.neuraylib.plugin] [IRAY:RENDER] 1.1 IRAY rend warn : GPU 1 (NVIDIA GeForce RTX 5090) with CUDA compute capability 12.0 is unsupported by this version of iray photoreal. Please look for an update with your software provider.
2025-05-13 10:10:24 [4,305ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 7508933632
2025-05-13 10:10:24 [4,305ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-05-13 10:10:24 [4,305ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 7433845248
2025-05-13 10:10:24 [4,305ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 9574251 (slope: 447, intercept: 13179904)
2025-05-13 10:10:24 [4,305ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4287216384
2025-05-13 10:10:24 [4,305ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-05-13 10:10:24 [4,526ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
[6.354s] Simulation App Startup Complete
[6.404s] [ext: omni.physx.fabric-106.5.7] startup

(zenity:2902020): Gtk-WARNING **: 18:12:27.035: cannot open display:

(zenity:2902292): Gtk-WARNING **: 18:14:27.053: cannot open display: