Repository: simpler-env/SimplerEnv
Issue: Hang when creating env
Root cause: Environment Incompatibility

At beginning it can run 10 times  , but have err`RuntimeError: vk::PhysicalDevice::createDeviceUnique: ErrorExtensionNotPresent after eval,`

` The error occurs after running 10 episodes on all policies`

https://github.com/simpler-env/SimplerEnv/issues/68 


then I try to fix it refer https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html#troubleshooting , I  install `vulkan-tools`  ,
I already has ` /usr/share/glvnd/egl_vendor.d/10_nvidia.json`  and  `/usr/share/vulkan/icd.d/nvidia_icd.json` , so only  create `/etc/vulkan/implicit_layer.d/nvidia_layers.json  `, 

 I run `bridge.sh `, 

[2025-05-01 14:18:01.329] [svulkan2] [error] GLFW error: X11: Failed to open display 
[2025-05-01 14:18:01.329] [svulkan2] [warning] Continue without GLFW.


then the program  hang here 
```
   env = build_maniskill2_env(
        env_name,
        **additional_env_build_kwargs,
        **kwargs,
    )
```
and cannot be shut down 


My env 
```
absl-py                      2.2.2
accelerate                   1.6.0
aiohappyeyeballs             2.6.1
aiohttp                      3.11.16
aiosignal                    1.3.2
annotated-types              0.7.0
antlr4-python3-runtime       4.9.3
anyio                        4.9.0
argcomplete                  3.6.2
arm_pytorch_utilities        0.4.3
array_record                 0.7.1
asttokens                    3.0.0
astunparse                   1.6.3
async-timeout                5.0.1
attrs                        25.3.0
beautifulsoup4               4.13.3
boto                         2.49.0
cachetools                   5.5.2
certifi                      2025.1.31
cffi                         1.17.1
charset-normalizer           3.4.1
click                        8.1.8
cloudpickle                  3.1.1
colorlog                     6.9.0
contourpy                    1.3.1
crcmod                       1.7
cryptography                 43.0.3
cycler                       0.12.1
dacite                       1.9.2
datasets                     2.12.0
decorator                    5.2.1
deepspeed                    0.16.5
diffusers                    0.32.2
dill                         0.3.6
dlimp                        0.0.1
dm-tree                      0.1.9
docker-pycreds               0.4.0
docstring_parser             0.16
draccus                      0.8.0
einops                       0.8.1
einops-exts                  0.0.4
etils                        1.12.2
exceptiongroup               1.2.2
executing                    2.2.0
Farama-Notifications         0.0.4
fast_kinematics              0.2.2
fastapi                      0.115.12
fasteners                    0.19
filelock                     3.18.0
flamingo-pytorch             0.1.2
flatbuffers                  25.2.10
fonttools                    4.57.0
frozenlist                   1.5.0
fsspec                       2025.3.2
ftfy                         6.3.1
gast                         0.6.0
gcs-oauth2-boto-plugin       3.2
gdown                        5.2.0
gitdb                        4.0.12
GitPython                    3.1.44
google-apitools              0.5.32
google-auth                  2.17.0
google-auth-httplib2         0.2.0
google-auth-oauthlib         1.2.1
google-pasta                 0.2.0
google-reauth                0.1.1
grpcio                       1.71.0
gsutil                       5.33
gymnasium                    0.29.1
h11                          0.14.0
h5py                         3.13.0
hjson                        3.1.0
httplib2                     0.20.4
huggingface-hub              0.30.1
hydra-colorlog               1.2.0
hydra-core                   1.3.2
idna                         3.10
imageio                      2.37.0
imageio-ffmpeg               0.6.0
importlib_metadata           8.6.1
importlib_resources          6.5.2
ipdb                         0.13.13
ipython                      8.35.0
jax-jumpy                    1.0.0
jedi                         0.19.2
Jinja2                       3.1.6
joblib                       1.4.2
json-numpy                   2.1.0
jsonlines                    4.0.0
keras                        2.15.0
kiwisolver                   1.4.8
libclang                     18.1.1
lightning                    2.5.1
lightning-lite               1.8.6
lightning-utilities          0.14.3
lxml                         5.4.0
mani_skill                   3.0.0b20
mani_skill2_real2sim         0.5.3      
Markdown                     3.7
markdown-it-py               3.0.0
MarkupSafe                   3.0.2
matplotlib                   3.10.1
matplotlib-inline            0.1.7
mdurl                        0.1.2
mediapy                      1.2.2
mergedeep                    1.3.4
ml-dtypes                    0.2.0
monotonic                    1.6
mplib                        0.1.1
mpmath                       1.3.0
msgpack                      1.1.0
multidict                    6.3.2
multiprocess                 0.70.14
mypy-extensions              1.0.0
networkx                     3.4.2
ninja                        1.11.1.4
nltk                         3.9.1
numpy                        1.24.4
nvidia-cublas-cu12           12.1.3.1
nvidia-cuda-cupti-cu12       12.1.105
nvidia-cuda-nvcc-cu12        12.2.140
nvidia-cuda-nvrtc-cu12       12.1.105
nvidia-cuda-runtime-cu12     12.1.105
nvidia-cudnn-cu12            8.9.2.26
nvidia-cufft-cu12            11.0.2.54
nvidia-curand-cu12           10.3.2.106
nvidia-cusolver-cu12         11.4.5.107
nvidia-cusparse-cu12         12.1.0.106
nvidia-ml-py                 12.570.86
nvidia-nccl-cu12             2.20.5
nvidia-nvjitlink-cu12        12.2.140
nvidia-nvtx-cu12             12.1.105
oauth2client                 4.1.3
oauthlib                     3.2.2
omegaconf                    2.3.0
open-clip-torch              2.20.0
opencv-python                4.11.0.86
OpenEXR                      3.3.3
opt_einsum                   3.4.0
packaging                    24.2
pandas                       2.2.3
parso                        0.8.4
peft                         0.11.1
pexpect                      4.9.0
pillow                       11.1.0
pip                          25.0
platformdirs                 4.3.7
promise                      2.3
prompt_toolkit               3.0.50
propcache                    0.3.1
protobuf                     3.20.3
psutil                       7.0.0
ptyprocess                   0.7.0
pure_eval                    0.2.3
py-cpuinfo                   9.0.0
pyarrow                      19.0.1
pyasn1                       0.6.1
pyasn1_modules               0.4.2
pycparser                    2.22
pydantic                     2.11.2
pydantic_core                2.33.1
Pygments                     2.19.1
pynvml                       12.0.0
pyOpenSSL                    24.2.1
pyparsing                    3.2.3
pyperclip                    1.9.0
PySocks                      1.7.1
python-dateutil              2.9.0.post0
pytorch-kinematics           0.7.5
pytorch-lightning            2.5.1
pytorch-seed                 0.2.0
pytz                         2025.2
pyu2f                        0.1.5
PyYAML                       6.0.2
pyyaml-include               1.4.1
regex                        2024.11.6
requests                     2.32.3
requests-oauthlib            2.0.0
responses                    0.18.0
retry_decorator              1.1.1
rich                         14.0.0
robovlms                     0.0.1      
rsa                          4.7.2
rtree                        1.4.0
ruckig                       0.14.0
safetensors                  0.5.3
sapien                       3.0.0b1
scikit-learn                 1.6.1
scipy                        1.15.2
sentence-transformers        2.2.2
sentencepiece                0.1.99
sentry-sdk                   2.25.1
setproctitle                 1.3.5
setuptools                   75.8.0
shtab                        1.7.2
simpler_env                  0.0.1     
six                          1.17.0
smmap                        5.0.2
sniffio                      1.3.1
soupsieve                    2.6
stack-data                   0.6.3
starlette                    0.46.1
sympy                        1.13.3
tabulate                     0.9.0
tensorboard                  2.15.2
tensorboard-data-server      0.7.2
tensorboardX                 2.6.2.2
tensorflow                   2.15.0
tensorflow-addons            0.23.0
tensorflow-datasets          4.9.3
tensorflow-estimator         2.15.0
tensorflow-graphics          2021.12.3
tensorflow-io-gcs-filesystem 0.37.1
tensorflow-metadata          1.17.0
termcolor                    3.0.1
threadpoolctl                3.6.0
timm                         0.9.10
tokenizers                   0.21.1
toml                         0.10.2
tomli                        2.2.1
toppra                       0.6.3
torch                        2.3.1
torchmetrics                 1.7.1
torchvision                  0.18.1
tqdm                         4.67.1
traitlets                    5.14.3
transformers                 4.47.0
transforms3d                 0.4.2
trimesh                      4.6.6
triton                       2.3.1
typeguard                    4.4.2
typing_extensions            4.13.1
typing-inspect               0.9.0
typing-inspection            0.4.0
tyro                         0.9.19
tzdata                       2025.2
urllib3                      2.3.0
uvicorn                      0.34.0
wandb                        0.19.9
wcwidth                      0.2.13
Werkzeug                     3.1.3
wheel                        0.45.1
wrapt                        1.14.1
xxhash                       3.5.0
yarl                         1.19.0
zipp                         3.21.0
```


What branch of simpler are you on?

And what is bridge.sh? I don't see this file. 

> What branch of simpler are you on?

I am on a forked branch  https://github.com/DelinQu/SimplerEnv-OpenVLA 
https://github.com/DelinQu/SimplerEnv-OpenVLA/blob/main/scripts/bridge.sh  

Sorry this might be harder to debug since its not the original repo but I can try. Are you using maniskill3 or maniskill 2? I notice you are using sapien 3 but the code is for maniskill 2, which is incompatible




> Sorry this might be harder to debug since its not the original repo but I can try. Are you using maniskill3 or maniskill 2? I notice you are using sapien 3 but the code is for maniskill 2, which is incompatible

Thank you ! I am using maniskill 2, so you means I need to change to sapien 2? How to do it. I install everything from readme.md , but still have this problem. 

> Sorry this might be harder to debug since its not the original repo but I can try. Are you using maniskill3 or maniskill 2? I notice you are using sapien 3 but the code is for maniskill 2, which is incompatible

I downgrade to sapien                       2.2.2 but still same problem. 

> Sorry this might be harder to debug since its not the original repo but I can try. Are you using maniskill3 or maniskill 2? I notice you are using sapien 3 but the code is for maniskill 2, which is incompatible

I am also trying maniskill 3 ,   `TypeError: BaseEnv.__init__() got an unexpected keyword argument 'robot' was raised from the environment creator for PutCarrotOnPlateInScene-v1 with kwar `  could you have a look ? https://github.com/simpler-env/SimplerEnv/issues/90#issue-3035005224

Do you want to use the gpu sim of simpler or are you okay with the CPU parallelization?

Debugging is a bit different for both since they use different simulator versions

> Do you want to use the gpu sim of simpler or are you okay with the CPU parallelization?
> 
> Debugging is a bit different for both since they use different simulator versions

I am okay with the CPU parallelization, both them can work. 

Can you try running the original simpler env code? And make sure to not include ipdb

> Can you try running the original simpler env code? And make sure to not include ipdb

I tested my forked code and originial simpler env code
```
import simpler_env
from simpler_env.utils.env.observation_utils import get_image_from_maniskill2_obs_dict

env = simpler_env.make('google_robot_pick_coke_can')
```
This would not hang. 


But when I try to run `https://github.com/DelinQu/SimplerEnv-OpenVLA.git the SimplerEnv/scripts/run_openvla.sh  `  It will hang.

gym.make will hang 


It is difficult to say what the issue is as that code is running other things not in the original codebase. I recommend trying to remove things one at a time / add one at a time to the code to debug. There are too many changes to see for me to figure it out at the moment.

> It is difficult to say what the issue is as that code is running other things not in the original codebase. I recommend trying to remove things one at a time / add one at a time to the code to debug. There are too many changes to see for me to figure it out at the moment.

Thank you, I wonder if maniskill3 is ready, if so I want to have a try with that branch. 

There is a maniskill 3 branch for this repo, you can try that