benchbot: Benchbot Robot Controller Crash

BenchBot start OK until …

Supervisor is now available @ 'http://0.0.0.0:10000' ...

Waiting until a robot controller is found @ 'http://benchbot_robot:10000' ... 
	Found
Sending environment data & robot config to controller ... 
	Ready
Starting the robot controller ...

Then, the Python Issac Sim Console gives out this error message

2023-04-04 14:45:57  [Warning] [omni.kit.widget.live.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.

and crashes. Any idea to fix this…

About this issue

Original URL
State: closed
Created a year ago
Comments: 24

Most upvoted comments

I manage to fix the frequent crashing of Issac-sim on my workstation. After extensive troubleshooting, I find that the RAM clock frequency is set too high. After reducing the RAM clock frequency, Issac-sim runs well.

tan007 on Apr 26, 2023

Hi all, sorry for delayed replies.

So I will admit to being very confused on how you have installed BenchBot such that it works with your local install of Isaac Sim. You have done something in the install process itself to make it point to the local simulator itself? Without needing to use the IsaacSim docker container? You have installed everything using the AppImage omniverse-launcher?

So when you run benchbot_run it is running the simulation commands to the local version of IsaacSim?

When you installed with the launcher you should have been able to install Omniverse Cache which would give you access to the localhost version of cache.

@btalb the .nvidia-omniverse folder is a by-product of the local install of Isaac Sim and is not included normally in the standard BenchBot install of Isaac Sim which is done entirely through the IsaacSim docker container.

If you are still having issue with the local Isaac Sim and wanted to try the docker container, one trick to check would be the following commands from the Isaac Sim Docker instructions.

xhost +
docker run --name isaac-sim --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
 -v ~/docker/isaac-sim/kit/cache/Kit:/isaac-sim/kit/cache/Kit:rw \
 -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
 -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
 -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
 -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
 -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
 -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
 -v ~/docker/isaac-sim/documents:/root/Documents:rw \
 nvcr.io/nvidia/isaac-sim:2022.2.1

Then within the interactive session ./runapp.sh If that works for you fine, the docker image for Isaac Sim as used in BenchBot should also be working.

david2611 on Apr 19, 2023