Drop v02 (moved to evButtonPush-260423-01-hdf5)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- v02/demo_00.hdf5 +0 -3
- v02/demo_00.log +0 -90
- v02/demo_01.hdf5 +0 -3
- v02/demo_01.log +0 -276
- v02/demo_02.hdf5 +0 -3
- v02/demo_02.log +0 -277
- v02/demo_03.hdf5 +0 -3
- v02/demo_03.log +0 -286
- v02/demo_04.hdf5 +0 -3
- v02/demo_04.log +0 -280
- v02/demo_05.hdf5 +0 -3
- v02/demo_05.log +0 -281
- v02/demo_06.hdf5 +0 -3
- v02/demo_06.log +0 -272
- v02/demo_07.hdf5 +0 -3
- v02/demo_07.log +0 -280
- v02/demo_08.hdf5 +0 -3
- v02/demo_08.log +0 -278
- v02/demo_09.hdf5 +0 -3
- v02/demo_09.log +0 -275
- v02/demo_10.hdf5 +0 -3
- v02/demo_10.log +0 -280
- v02/demo_11.hdf5 +0 -3
- v02/demo_11.log +0 -278
- v02/demo_12.hdf5 +0 -3
- v02/demo_12.log +0 -276
- v02/demo_13.hdf5 +0 -3
- v02/demo_13.log +0 -283
- v02/demo_14.hdf5 +0 -3
- v02/demo_14.log +0 -272
- v02/demo_15.hdf5 +0 -3
- v02/demo_15.log +0 -302
- v02/demo_16.hdf5 +0 -3
- v02/demo_16.log +0 -300
- v02/demo_17.hdf5 +0 -3
- v02/demo_17.log +0 -302
- v02/demo_18.hdf5 +0 -3
- v02/demo_18.log +0 -302
- v02/demo_19.hdf5 +0 -3
- v02/demo_19.log +0 -300
- v02/demo_20.hdf5 +0 -3
- v02/demo_20.log +0 -304
- v02/demo_21.hdf5 +0 -3
- v02/demo_21.log +0 -299
- v02/demo_22.hdf5 +0 -3
- v02/demo_22.log +0 -306
- v02/demo_23.hdf5 +0 -3
- v02/demo_23.log +0 -300
- v02/demo_24.hdf5 +0 -3
- v02/demo_24.log +0 -300
v02/demo_00.hdf5
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version https://git-lfs.github.com/spec/v1
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oid sha256:d2dae4b4feeda2d7fdb527949ed1c156b0facce0d477390277776593b53dd258
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v02/demo_00.log
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cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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[INFO][AppLauncher]: Using device: cuda:0
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[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
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Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
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[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_020253.log
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2026-04-23T02:02:53Z [288ms] [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)
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2026-04-23T02:02:53Z [299ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
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| Driver Version: 580.126.09 | Graphics API: Vulkan
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| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
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|=============================================================================================|
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| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
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| Processor: AMD EPYC 9555 64-Core Processor
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| Cores: 30 | Logical Cores: 30
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|---------------------------------------------------------------------------------------------|
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| Total Memory (MB): 90484 | Free Memory: 87077
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| Total Page/Swap (MB): 0 | Free Page/Swap: 0
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|---------------------------------------------------------------------------------------------|
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2026-04-23T02:02:54Z [842ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
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2026-04-23T02:02:54Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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2026-04-23T02:02:54Z [1,229ms] [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)
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2026-04-23T02:02:54Z [1,243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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2026-04-23T02:02:54Z [1,243ms] [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)
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2026-04-23T02:02:54Z [1,248ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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2026-04-23T02:02:54Z [1,248ms] [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)
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2026-04-23T02:02:54Z [1,253ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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2026-04-23T02:02:54Z [1,253ms] [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)
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2026-04-23T02:02:54Z [1,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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2026-04-23T02:02:54Z [1,254ms] [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)
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2026-04-23T02:02:54Z [1,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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2026-04-23T02:02:54Z [1,254ms] [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)
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2026-04-23T02:02:54Z [1,390ms] [Warning] [omni.log] Source: omni.hydra was already registered.
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2026-04-23T02:02:54Z [1,599ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
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2026-04-23T02:02:54Z [1,605ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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2026-04-23T02:02:56Z [3,211ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
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2026-04-23T02:02:56Z [3,309ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
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2026-04-23T02:02:56Z [3,309ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
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2026-04-23T02:02:56Z [3,309ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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2026-04-23T02:03:00Z [6,875ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
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Traceback (most recent call last):
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File "/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py", line 164, in <module>
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env_cfg = parse_env_cfg(args.task, num_envs=1)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "/workspace/robotis_lab/third_party/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 140, in parse_env_cfg
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cfg = load_cfg_from_registry(task_name.split(":")[-1], "env_cfg_entry_point")
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "/workspace/robotis_lab/third_party/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 106, in load_cfg_from_registry
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mod = importlib.import_module(mod_name)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "/isaac-sim/kit/python/lib/python3.11/importlib/__init__.py", line 126, in import_module
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return _bootstrap._gcd_import(name[level:], package, level)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "<frozen importlib._bootstrap>", line 1204, in _gcd_import
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File "<frozen importlib._bootstrap>", line 1176, in _find_and_load
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File "<frozen importlib._bootstrap>", line 1147, in _find_and_load_unlocked
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File "<frozen importlib._bootstrap>", line 690, in _load_unlocked
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File "<frozen importlib._bootstrap_external>", line 940, in exec_module
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File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
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File "/workspace/robotis_lab/source/robotis_lab/robotis_lab/simulation_tasks/manager_based/OMY/elevator_call/joint_pos_env_cfg.py", line 10, in <module>
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from robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.elevator_call_env_cfg import (
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File "/workspace/robotis_lab/source/robotis_lab/robotis_lab/simulation_tasks/manager_based/OMY/elevator_call/elevator_call_env_cfg.py", line 29, in <module>
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from isaac_sim.assets.elevator import ELEVATOR_CFG, ElevatorBehaviorCfg
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ModuleNotFoundError: No module named 'isaac_sim'
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
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2026-04-23T02:03:01Z [7,769ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
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2026-04-23T02:03:01Z [7,773ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
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2026-04-23T02:03:01Z [7,804ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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v02/demo_01.hdf5
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version https://git-lfs.github.com/spec/v1
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oid sha256:3341a7b4e41a513e1edeb2f61ca9c1cadbbafaf109cb40d2d37adc50bdd409ca
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size 2344491021
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v02/demo_01.log
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cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
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pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
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[INFO][AppLauncher]: Using device: cuda:0
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[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
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[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
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[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_01.hdf5
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Setting seed: 1
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[INFO]: Base environment:
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Environment device : cuda:0
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Environment seed : 1
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Physics step-size : 0.016666666666666666
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Rendering step-size : 0.016666666666666666
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Environment step-size : 0.016666666666666666
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[INFO]: Time taken for scene creation : 1.116784 seconds
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[INFO]: Scene manager: <class InteractiveScene>
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Number of environments: 1
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Environment spacing : 3.0
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Source prim name : /World/envs/env_0
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Global prim paths : ['/World/GroundPlane']
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Replicate physics : True
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[INFO]: Starting the simulation. This may take a few seconds. Please wait...
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[INFO]: Time taken for simulation start : 4.133709 seconds
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[INFO] Command Manager: <CommandManager> contains 0 active terms.
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+------------------------+
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| Active Command Terms |
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+--------+-------+-------+
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| Index | Name | Type |
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+--------+-------+-------+
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+--------+-------+-------+
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[INFO] Event Manager: <EventManager> contains 3 active terms.
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+----------------------------------------+
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| Active Event Terms in Mode: 'startup' |
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+---------+------------------------------+
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| Index | Name |
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+---------+------------------------------+
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| 0 | robot_physics_material |
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| 1 | init_elevator |
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+---------+------------------------------+
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+--------------------------------------+
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| Active Event Terms in Mode: 'reset' |
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+--------+-----------------------------+
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| Index | Name |
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+--------+-----------------------------+
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| 0 | reset_all |
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| 1 | randomize_elevator_pose |
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| 2 | reset_robot_at_hall_side |
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+--------+-----------------------------+
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+-----------------------------------------------------+
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| Active Event Terms in Mode: 'interval' |
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+-------+-------------------+-------------------------+
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| Index | Name | Interval time range (s) |
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+-------+-------------------+-------------------------+
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| 0 | auto_press_button | (0.0, 0.0) |
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+-------+-------------------+-------------------------+
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-
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[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
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+--------------------------------------------------+
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| Active Recorder Terms |
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+-------+------------------------------------------+
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| Index | Name |
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+-------+------------------------------------------+
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| 0 | record_initial_state |
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| 1 | record_post_step_states |
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| 2 | record_pre_step_actions |
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| 3 | record_pre_step_flat_policy_observations |
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| 4 | record_post_step_processed_actions |
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+-------+------------------------------------------+
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-
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[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 9
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.275 dir=-1.0 travel=0.551
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.275 dir=1.0 travel=0.551
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.8228, 0.998, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.2426, 1.0333, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.5802, -0.0353, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0353, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6152, -0.0353, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.423, 0.256, 2.399, -2.655, 1.148, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4519 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4519 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.4074999988079071, 0.9168999791145325, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.133m tip_dist=0.420m q=[ 0.089 -1.457 2.657 -1.102 1.604 0.006]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4183 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.097m tip_dist=0.388m q=[ 0.187 -1.337 2.634 -1.112 1.582 0.014]
|
| 153 |
-
approach step= 60/100 pre_dist=0.060m tip_dist=0.354m q=[ 0.284 -1.195 2.603 -1.126 1.538 0.024]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3556 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.023m tip_dist=0.320m q=[ 0.371 -1.034 2.557 -1.144 1.476 0.035]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 85 dist_to_pre=0.0133m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.2901 force=0.0000
|
| 161 |
-
press step= 20 dist=0.2800m force=0.000N stall=0 q=[ 0.423 -0.823 2.485 -1.168 1.366 0.048]
|
| 162 |
-
press step= 40 dist=0.2433m force=0.000N stall=0 q=[ 0.446 -0.623 2.409 -1.191 1.272 0.060]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2145 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2064m force=0.000N stall=0 q=[ 0.453 -0.419 2.317 -1.215 1.195 0.072]
|
| 166 |
-
press step= 80 dist=0.1696m force=0.000N stall=0 q=[ 0.445 -0.220 2.210 -1.243 1.137 0.084]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1399 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1326m force=0.000N stall=0 q=[ 0.428 -0.030 2.090 -1.272 1.097 0.096]
|
| 170 |
-
press step= 120 dist=0.0957m force=0.000N stall=0 q=[ 0.405 0.150 1.958 -1.303 1.073 0.108]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.0670 force=0.0000
|
| 173 |
-
press step= 140 dist=0.0590m force=0.000N stall=0 q=[ 0.380 0.321 1.814 -1.335 1.062 0.120]
|
| 174 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=68.485N dist=0.0456
|
| 175 |
-
[PRESSED] force-contact at step 150 force=68.485N dist=0.0421m
|
| 176 |
-
[PHASE] hold
|
| 177 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 178 |
-
[AUTO_PRESS] count=321 env0 dist=0.0457 force=0.6946
|
| 179 |
-
[PHASE] retract: up to 600 steps
|
| 180 |
-
[retract-1] button → pre-press
|
| 181 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 182 |
-
[AUTO_PRESS] count=361 env0 dist=0.1076 force=0.0000
|
| 183 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 184 |
-
[AUTO_PRESS] count=401 env0 dist=0.1809 force=0.0000
|
| 185 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 186 |
-
[AUTO_PRESS] count=441 env0 dist=0.2555 force=0.0000
|
| 187 |
-
pre-press reached at step 137 dist=0.0143m
|
| 188 |
-
[retract-2] pre-press → home
|
| 189 |
-
[AUTO_PRESS] door state=2 progress=0.146 panels=2
|
| 190 |
-
[AUTO_PRESS] count=481 env0 dist=0.3250 force=0.0000
|
| 191 |
-
[AUTO_PRESS] door state=2 progress=0.379 panels=2
|
| 192 |
-
[AUTO_PRESS] count=521 env0 dist=0.3913 force=0.0000
|
| 193 |
-
home reached at step 90 dist=0.0147m
|
| 194 |
-
[PHASE] home_idle: 150 steps
|
| 195 |
-
[AUTO_PRESS] door state=2 progress=0.613 panels=2
|
| 196 |
-
[AUTO_PRESS] count=561 env0 dist=0.4608 force=0.0000
|
| 197 |
-
[AUTO_PRESS] door state=2 progress=0.846 panels=2
|
| 198 |
-
[AUTO_PRESS] count=601 env0 dist=0.4511 force=0.0000
|
| 199 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 200 |
-
[AUTO_PRESS] count=641 env0 dist=0.4519 force=0.0000
|
| 201 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 202 |
-
[AUTO_PRESS] count=681 env0 dist=0.4519 force=0.0000
|
| 203 |
-
|
| 204 |
-
============================================================
|
| 205 |
-
[RESULT] pressed : True
|
| 206 |
-
[RESULT] min_distance : 0.0421 m
|
| 207 |
-
[RESULT] final_dist : 0.4544 m
|
| 208 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_01.hdf5
|
| 209 |
-
============================================================
|
| 210 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 211 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_022958.log
|
| 212 |
-
2026-04-23T02:29:58Z [288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 213 |
-
2026-04-23T02:29:58Z [288ms] [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)
|
| 214 |
-
2026-04-23T02:29:58Z [299ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 215 |
-
|
| 216 |
-
|---------------------------------------------------------------------------------------------|
|
| 217 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 218 |
-
|=============================================================================================|
|
| 219 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 220 |
-
| | | | | | Device-ID | UUID |
|
| 221 |
-
| | | | | | Bus-ID | |
|
| 222 |
-
|---------------------------------------------------------------------------------------------|
|
| 223 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 224 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 225 |
-
| | | | | | 4 | |
|
| 226 |
-
|=============================================================================================|
|
| 227 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 228 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 229 |
-
| Cores: 30 | Logical Cores: 30
|
| 230 |
-
|---------------------------------------------------------------------------------------------|
|
| 231 |
-
| Total Memory (MB): 90484 | Free Memory: 76043
|
| 232 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 233 |
-
|---------------------------------------------------------------------------------------------|
|
| 234 |
-
2026-04-23T02:29:59Z [790ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 235 |
-
2026-04-23T02:29:59Z [1,269ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 236 |
-
2026-04-23T02:29:59Z [1,269ms] [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)
|
| 237 |
-
2026-04-23T02:30:00Z [1,483ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 238 |
-
2026-04-23T02:30:00Z [1,483ms] [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)
|
| 239 |
-
2026-04-23T02:30:00Z [1,490ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 240 |
-
2026-04-23T02:30:00Z [1,490ms] [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)
|
| 241 |
-
2026-04-23T02:30:00Z [1,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 242 |
-
2026-04-23T02:30:00Z [1,495ms] [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)
|
| 243 |
-
2026-04-23T02:30:00Z [1,497ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 244 |
-
2026-04-23T02:30:00Z [1,497ms] [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)
|
| 245 |
-
2026-04-23T02:30:00Z [1,498ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 246 |
-
2026-04-23T02:30:00Z [1,498ms] [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)
|
| 247 |
-
2026-04-23T02:30:00Z [1,640ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 248 |
-
2026-04-23T02:30:00Z [1,850ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 249 |
-
2026-04-23T02:30:00Z [1,855ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 250 |
-
2026-04-23T02:30:02Z [3,505ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 251 |
-
2026-04-23T02:30:02Z [3,600ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 252 |
-
2026-04-23T02:30:02Z [3,600ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 253 |
-
2026-04-23T02:30:02Z [3,600ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 254 |
-
2026-04-23T02:30:04Z [5,621ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 255 |
-
2026-04-23T02:30:08Z [10,439ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
|
| 256 |
-
|
| 257 |
-
2026-04-23T02:30:53Z [54,526ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 258 |
-
2026-04-23T02:30:53Z [54,526ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 259 |
-
2026-04-23T02:30:58Z [59,982ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 260 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 261 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 262 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 263 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 264 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 270 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 273 |
-
2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 274 |
-
2026-04-23T02:35:10Z [312,033ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 275 |
-
2026-04-23T02:35:10Z [312,107ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 276 |
-
2026-04-23T02:35:10Z [312,147ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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|
v02/demo_02.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:63824049a157c63ed24c7c38767aebf1fdcdc30e173fb31f232c3975a38f6d73
|
| 3 |
-
size 2057605855
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_02.log
DELETED
|
@@ -1,277 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_02.hdf5
|
| 8 |
-
Setting seed: 2
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 2
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.295724 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.507070 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 10
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.195 dir=-1.0 travel=0.390
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.195 dir=1.0 travel=0.390
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [1.1321, -0.6484, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.5386, -0.6405, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.5935, -0.008, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.008, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6285, -0.008, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.57, 0.245, 2.415, -2.661, 1.001, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4686 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4686 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.703499972820282, -0.7569000124931335, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.148m tip_dist=0.439m q=[ 0.090 -1.469 2.659 -1.101 1.621 0.005]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4368 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.112m tip_dist=0.408m q=[ 0.191 -1.362 2.640 -1.110 1.617 0.013]
|
| 153 |
-
approach step= 60/100 pre_dist=0.075m tip_dist=0.375m q=[ 0.294 -1.232 2.612 -1.122 1.590 0.022]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3779 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.037m tip_dist=0.344m q=[ 0.389 -1.082 2.570 -1.139 1.543 0.032]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0133m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3180 force=0.0000
|
| 161 |
-
press step= 20 dist=0.2916m force=0.000N stall=0 q=[ 0.472 -0.809 2.477 -1.172 1.409 0.049]
|
| 162 |
-
press step= 40 dist=0.2549m force=0.000N stall=0 q=[ 0.491 -0.613 2.400 -1.196 1.314 0.061]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2425 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2180m force=0.000N stall=0 q=[ 0.496 -0.412 2.308 -1.222 1.234 0.073]
|
| 166 |
-
press step= 80 dist=0.1811m force=0.000N stall=0 q=[ 0.487 -0.217 2.201 -1.250 1.174 0.084]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1674 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1441m force=0.000N stall=0 q=[ 0.469 -0.029 2.082 -1.280 1.131 0.096]
|
| 170 |
-
press step= 120 dist=0.1072m force=0.000N stall=0 q=[ 0.445 0.150 1.951 -1.311 1.103 0.107]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.0933 force=0.0000
|
| 173 |
-
press step= 140 dist=0.0705m force=0.000N stall=0 q=[ 0.420 0.320 1.807 -1.343 1.088 0.119]
|
| 174 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=67.715N dist=0.0465
|
| 175 |
-
[PRESSED] force-contact at step 156 force=67.715N dist=0.0423m
|
| 176 |
-
[PHASE] hold
|
| 177 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 178 |
-
[AUTO_PRESS] count=321 env0 dist=0.0464 force=0.0000
|
| 179 |
-
[PHASE] retract: up to 600 steps
|
| 180 |
-
[retract-1] button → pre-press
|
| 181 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 182 |
-
[AUTO_PRESS] count=361 env0 dist=0.0839 force=0.0000
|
| 183 |
-
[AUTO_PRESS] door state=2 progress=0.122 panels=2
|
| 184 |
-
[AUTO_PRESS] count=401 env0 dist=0.1568 force=0.0000
|
| 185 |
-
[AUTO_PRESS] door state=2 progress=0.356 panels=2
|
| 186 |
-
[AUTO_PRESS] count=441 env0 dist=0.2308 force=0.0000
|
| 187 |
-
[AUTO_PRESS] door state=2 progress=0.589 panels=2
|
| 188 |
-
[AUTO_PRESS] count=481 env0 dist=0.3061 force=0.0000
|
| 189 |
-
pre-press reached at step 144 dist=0.0137m
|
| 190 |
-
[retract-2] pre-press → home
|
| 191 |
-
[AUTO_PRESS] door state=2 progress=0.823 panels=2
|
| 192 |
-
[AUTO_PRESS] count=521 env0 dist=0.3663 force=0.0000
|
| 193 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 194 |
-
[AUTO_PRESS] count=561 env0 dist=0.4297 force=0.0000
|
| 195 |
-
home reached at step 98 dist=0.0133m
|
| 196 |
-
[PHASE] home_idle: 150 steps
|
| 197 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 198 |
-
[AUTO_PRESS] count=601 env0 dist=0.4653 force=0.0000
|
| 199 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 200 |
-
[AUTO_PRESS] count=641 env0 dist=0.4689 force=0.0000
|
| 201 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 202 |
-
[AUTO_PRESS] count=681 env0 dist=0.4685 force=0.0000
|
| 203 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 204 |
-
[AUTO_PRESS] count=721 env0 dist=0.4686 force=0.0000
|
| 205 |
-
|
| 206 |
-
============================================================
|
| 207 |
-
[RESULT] pressed : True
|
| 208 |
-
[RESULT] min_distance : 0.0423 m
|
| 209 |
-
[RESULT] final_dist : 0.4721 m
|
| 210 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_02.hdf5
|
| 211 |
-
============================================================
|
| 212 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 213 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023511.log
|
| 214 |
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2026-04-23T02:35:11Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 215 |
-
2026-04-23T02:35:11Z [289ms] [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)
|
| 216 |
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2026-04-23T02:35:11Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 217 |
-
|
| 218 |
-
|---------------------------------------------------------------------------------------------|
|
| 219 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 220 |
-
|=============================================================================================|
|
| 221 |
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| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 222 |
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| | | | | | Device-ID | UUID |
|
| 223 |
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| | | | | | Bus-ID | |
|
| 224 |
-
|---------------------------------------------------------------------------------------------|
|
| 225 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 226 |
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| | | | | | 2bb5 | 71edab28.. |
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| | | | | | 4 | |
|
| 228 |
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|=============================================================================================|
|
| 229 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 230 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 231 |
-
| Cores: 30 | Logical Cores: 30
|
| 232 |
-
|---------------------------------------------------------------------------------------------|
|
| 233 |
-
| Total Memory (MB): 90484 | Free Memory: 87062
|
| 234 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 235 |
-
|---------------------------------------------------------------------------------------------|
|
| 236 |
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2026-04-23T02:35:12Z [805ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
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2026-04-23T02:35:12Z [1,185ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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| 238 |
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2026-04-23T02:35:12Z [1,185ms] [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)
|
| 239 |
-
2026-04-23T02:35:12Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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| 240 |
-
2026-04-23T02:35:12Z [1,198ms] [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)
|
| 241 |
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2026-04-23T02:35:12Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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| 242 |
-
2026-04-23T02:35:12Z [1,203ms] [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)
|
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2026-04-23T02:35:12Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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| 244 |
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2026-04-23T02:35:12Z [1,208ms] [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)
|
| 245 |
-
2026-04-23T02:35:12Z [1,209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 246 |
-
2026-04-23T02:35:12Z [1,209ms] [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)
|
| 247 |
-
2026-04-23T02:35:12Z [1,210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 248 |
-
2026-04-23T02:35:12Z [1,210ms] [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)
|
| 249 |
-
2026-04-23T02:35:12Z [1,342ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 250 |
-
2026-04-23T02:35:13Z [1,545ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 251 |
-
2026-04-23T02:35:13Z [1,550ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 252 |
-
2026-04-23T02:35:14Z [3,148ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 253 |
-
2026-04-23T02:35:14Z [3,236ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 254 |
-
2026-04-23T02:35:14Z [3,236ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 255 |
-
2026-04-23T02:35:14Z [3,237ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 256 |
-
2026-04-23T02:35:18Z [6,832ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 257 |
-
|
| 258 |
-
2026-04-23T02:35:21Z [9,789ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 259 |
-
2026-04-23T02:35:21Z [9,789ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 260 |
-
2026-04-23T02:35:23Z [12,431ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 261 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 262 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 263 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 264 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 270 |
-
2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 273 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 274 |
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2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 275 |
-
2026-04-23T02:38:37Z [205,903ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 276 |
-
2026-04-23T02:38:37Z [205,976ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 277 |
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2026-04-23T02:38:37Z [206,034ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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v02/demo_03.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:08a6cd5a550a5f918ce1d4bdc73ce731336675ada73cb66e208c0fea18a5c82f
|
| 3 |
-
size 2392760677
|
|
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|
v02/demo_03.log
DELETED
|
@@ -1,286 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_03.hdf5
|
| 8 |
-
Setting seed: 3
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 3
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.350584 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.461534 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 7
|
| 129 |
-
[INIT_ELEV] door panels[0] = 8
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameB initial_x=-0.204 dir=-1.0 travel=0.407
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameL initial_x=-0.390 dir=1.0 travel=0.407
|
| 132 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameT initial_x=-0.204 dir=1.0 travel=0.407
|
| 133 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_Glass initial_x=-0.189 dir=1.0 travel=0.407
|
| 134 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameB initial_x=0.204 dir=1.0 travel=0.407
|
| 135 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameR initial_x=0.390 dir=1.0 travel=0.407
|
| 136 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameT initial_x=0.204 dir=1.0 travel=0.407
|
| 137 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_Glass initial_x=0.189 dir=1.0 travel=0.407
|
| 138 |
-
[INFO]: Completed setting up the environment...
|
| 139 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 140 |
-
[SETUP] button_w = [1.1679, -0.6776, 1.13]
|
| 141 |
-
[SETUP] robot_w pos = [0.5669, -0.7169, 0.908] yaw=0.000
|
| 142 |
-
[SETUP] button_base = [0.6011, 0.0393, 0.222]
|
| 143 |
-
[SETUP] pre_press_b = [0.3, 0.0393, 0.332]
|
| 144 |
-
[SETUP] press_b = [0.6361, 0.0393, 0.332]
|
| 145 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 146 |
-
[SETUP] goal_pre_q = [0.794, 0.258, 2.395, -2.653, 0.776, 0.0] ik_err=0.0000m
|
| 147 |
-
[PHASE] gripper close
|
| 148 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 149 |
-
[AUTO_PRESS] count=1 env0 dist=0.4866 force=0.0000
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 151 |
-
[AUTO_PRESS] count=41 env0 dist=0.4866 force=0.0000
|
| 152 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 153 |
-
[SETUP] home_tip_w = [0.7318000197410583, -0.8334000110626221, 1.2956000566482544]
|
| 154 |
-
[PHASE] approach: up to 100 steps
|
| 155 |
-
approach step= 20/100 pre_dist=0.180m tip_dist=0.461m q=[ 0.089 -1.489 2.662 -1.100 1.643 0.004]
|
| 156 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 157 |
-
[AUTO_PRESS] count=81 env0 dist=0.4572 force=0.0000
|
| 158 |
-
approach step= 40/100 pre_dist=0.144m tip_dist=0.431m q=[ 0.193 -1.400 2.647 -1.106 1.665 0.010]
|
| 159 |
-
approach step= 60/100 pre_dist=0.107m tip_dist=0.401m q=[ 0.301 -1.286 2.624 -1.117 1.661 0.018]
|
| 160 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 161 |
-
[AUTO_PRESS] count=121 env0 dist=0.4033 force=0.0000
|
| 162 |
-
approach step= 80/100 pre_dist=0.070m tip_dist=0.371m q=[ 0.406 -1.152 2.588 -1.132 1.636 0.028]
|
| 163 |
-
approach step=100/100 pre_dist=0.032m tip_dist=0.343m q=[ 0.502 -1.001 2.539 -1.152 1.593 0.038]
|
| 164 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 165 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 166 |
-
[AUTO_PRESS] count=161 env0 dist=0.3506 force=0.0000
|
| 167 |
-
press step= 20 dist=0.3098m force=0.000N stall=0 q=[ 0.532 -0.833 2.480 -1.172 1.496 0.048]
|
| 168 |
-
press step= 40 dist=0.2730m force=0.000N stall=0 q=[ 0.551 -0.643 2.406 -1.196 1.398 0.059]
|
| 169 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 170 |
-
[AUTO_PRESS] count=201 env0 dist=0.2774 force=0.0000
|
| 171 |
-
press step= 60 dist=0.2359m force=0.000N stall=0 q=[ 0.558 -0.450 2.319 -1.222 1.313 0.071]
|
| 172 |
-
press step= 80 dist=0.1990m force=0.000N stall=0 q=[ 0.552 -0.258 2.217 -1.251 1.246 0.082]
|
| 173 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 174 |
-
[AUTO_PRESS] count=241 env0 dist=0.2017 force=0.0000
|
| 175 |
-
press step= 100 dist=0.1620m force=0.000N stall=0 q=[ 0.536 -0.073 2.103 -1.281 1.195 0.093]
|
| 176 |
-
press step= 120 dist=0.1250m force=0.000N stall=0 q=[ 0.515 0.105 1.977 -1.312 1.159 0.104]
|
| 177 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 178 |
-
[AUTO_PRESS] count=281 env0 dist=0.1267 force=0.0000
|
| 179 |
-
press step= 140 dist=0.0881m force=0.000N stall=0 q=[ 0.491 0.275 1.838 -1.344 1.136 0.115]
|
| 180 |
-
press step= 160 dist=0.0516m force=0.000N stall=0 q=[ 0.465 0.441 1.686 -1.376 1.125 0.127]
|
| 181 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=8
|
| 182 |
-
[AUTO_PRESS] count=321 env0 dist=0.0545 force=0.0000
|
| 183 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=1.333N dist=0.0477
|
| 184 |
-
[PRESSED] force-contact at step 165 force=1.333N dist=0.0425m
|
| 185 |
-
[PHASE] hold
|
| 186 |
-
[PHASE] retract: up to 600 steps
|
| 187 |
-
[retract-1] button → pre-press
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.064 panels=8
|
| 189 |
-
[AUTO_PRESS] count=361 env0 dist=0.0548 force=0.0000
|
| 190 |
-
[AUTO_PRESS] door state=2 progress=0.298 panels=8
|
| 191 |
-
[AUTO_PRESS] count=401 env0 dist=0.1276 force=0.0000
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.531 panels=8
|
| 193 |
-
[AUTO_PRESS] count=441 env0 dist=0.2028 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=2 progress=0.764 panels=8
|
| 195 |
-
[AUTO_PRESS] count=481 env0 dist=0.2784 force=0.0000
|
| 196 |
-
pre-press reached at step 147 dist=0.0133m
|
| 197 |
-
[retract-2] pre-press → home
|
| 198 |
-
[AUTO_PRESS] door state=2 progress=0.998 panels=8
|
| 199 |
-
[AUTO_PRESS] count=521 env0 dist=0.3423 force=0.0000
|
| 200 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=8
|
| 201 |
-
[AUTO_PRESS] count=561 env0 dist=0.3970 force=0.0000
|
| 202 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=8
|
| 203 |
-
[AUTO_PRESS] count=601 env0 dist=0.4558 force=0.0000
|
| 204 |
-
home reached at step 114 dist=0.0139m
|
| 205 |
-
[PHASE] home_idle: 150 steps
|
| 206 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=8
|
| 207 |
-
[AUTO_PRESS] count=641 env0 dist=0.4839 force=0.0000
|
| 208 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=8
|
| 209 |
-
[AUTO_PRESS] count=681 env0 dist=0.4868 force=0.0000
|
| 210 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=8
|
| 211 |
-
[AUTO_PRESS] count=721 env0 dist=0.4865 force=0.0000
|
| 212 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=8
|
| 213 |
-
[AUTO_PRESS] count=761 env0 dist=0.4866 force=0.0000
|
| 214 |
-
|
| 215 |
-
============================================================
|
| 216 |
-
[RESULT] pressed : True
|
| 217 |
-
[RESULT] min_distance : 0.0425 m
|
| 218 |
-
[RESULT] final_dist : 0.4918 m
|
| 219 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_03.hdf5
|
| 220 |
-
============================================================
|
| 221 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 222 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023838.log
|
| 223 |
-
2026-04-23T02:38:38Z [290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 224 |
-
2026-04-23T02:38:38Z [290ms] [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)
|
| 225 |
-
2026-04-23T02:38:38Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 226 |
-
|
| 227 |
-
|---------------------------------------------------------------------------------------------|
|
| 228 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 229 |
-
|=============================================================================================|
|
| 230 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 231 |
-
| | | | | | Device-ID | UUID |
|
| 232 |
-
| | | | | | Bus-ID | |
|
| 233 |
-
|---------------------------------------------------------------------------------------------|
|
| 234 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 235 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 236 |
-
| | | | | | 4 | |
|
| 237 |
-
|=============================================================================================|
|
| 238 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 239 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 240 |
-
| Cores: 30 | Logical Cores: 30
|
| 241 |
-
|---------------------------------------------------------------------------------------------|
|
| 242 |
-
| Total Memory (MB): 90484 | Free Memory: 87085
|
| 243 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 244 |
-
|---------------------------------------------------------------------------------------------|
|
| 245 |
-
2026-04-23T02:38:38Z [795ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 246 |
-
2026-04-23T02:38:39Z [1,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T02:38:39Z [1,173ms] [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)
|
| 248 |
-
2026-04-23T02:38:39Z [1,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 249 |
-
2026-04-23T02:38:39Z [1,186ms] [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)
|
| 250 |
-
2026-04-23T02:38:39Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 251 |
-
2026-04-23T02:38:39Z [1,192ms] [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)
|
| 252 |
-
2026-04-23T02:38:39Z [1,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 253 |
-
2026-04-23T02:38:39Z [1,196ms] [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)
|
| 254 |
-
2026-04-23T02:38:39Z [1,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 255 |
-
2026-04-23T02:38:39Z [1,197ms] [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)
|
| 256 |
-
2026-04-23T02:38:39Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 257 |
-
2026-04-23T02:38:39Z [1,198ms] [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)
|
| 258 |
-
2026-04-23T02:38:39Z [1,333ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 259 |
-
2026-04-23T02:38:39Z [1,539ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 260 |
-
2026-04-23T02:38:39Z [1,545ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 261 |
-
2026-04-23T02:38:41Z [3,144ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 262 |
-
2026-04-23T02:38:41Z [3,220ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 263 |
-
2026-04-23T02:38:41Z [3,220ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 264 |
-
2026-04-23T02:38:41Z [3,221ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 265 |
-
2026-04-23T02:38:45Z [6,989ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 266 |
-
|
| 267 |
-
2026-04-23T02:38:48Z [9,953ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 268 |
-
2026-04-23T02:38:48Z [9,953ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 269 |
-
2026-04-23T02:38:50Z [12,566ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 270 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 273 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 274 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 275 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 276 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 277 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 278 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 279 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 280 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 281 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 282 |
-
2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 283 |
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2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 284 |
-
2026-04-23T02:42:28Z [230,299ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 285 |
-
2026-04-23T02:42:28Z [230,371ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 286 |
-
2026-04-23T02:42:28Z [230,459ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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|
v02/demo_04.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:0719555b250004460fbed6e00fdca844081ed9d2622b4fb560f8b9d61c9eccc0
|
| 3 |
-
size 2433074038
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_04.log
DELETED
|
@@ -1,280 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_04.hdf5
|
| 8 |
-
Setting seed: 4
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 4
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.054290 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.452867 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 8
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.217 dir=-1.0 travel=0.433
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.217 dir=1.0 travel=0.433
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.4901, -0.7406, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [-0.1313, -0.7604, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6215, 0.0198, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, 0.0198, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6565, 0.0198, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.707, 0.248, 2.411, -2.659, 0.863, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.5000 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.5000 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.03359999880194664, -0.8769000172615051, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.166m tip_dist=0.473m q=[ 0.089 -1.481 2.661 -1.100 1.635 0.004]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4700 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.130m tip_dist=0.443m q=[ 0.193 -1.386 2.644 -1.107 1.647 0.011]
|
| 153 |
-
approach step= 60/100 pre_dist=0.093m tip_dist=0.412m q=[ 0.299 -1.265 2.619 -1.119 1.635 0.020]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.4148 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.056m tip_dist=0.382m q=[ 0.401 -1.125 2.582 -1.135 1.601 0.029]
|
| 157 |
-
approach step=100/100 pre_dist=0.018m tip_dist=0.353m q=[ 0.491 -0.968 2.530 -1.155 1.550 0.040]
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3599 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3195m force=0.000N stall=0 q=[ 0.519 -0.796 2.467 -1.177 1.452 0.050]
|
| 162 |
-
press step= 40 dist=0.2827m force=0.000N stall=0 q=[ 0.535 -0.603 2.388 -1.202 1.355 0.062]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2868 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2457m force=0.000N stall=0 q=[ 0.537 -0.408 2.296 -1.228 1.274 0.073]
|
| 166 |
-
press step= 80 dist=0.2089m force=0.000N stall=0 q=[ 0.526 -0.216 2.189 -1.257 1.210 0.084]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.2112 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1719m force=0.000N stall=0 q=[ 0.508 -0.031 2.071 -1.288 1.164 0.096]
|
| 170 |
-
press step= 120 dist=0.1349m force=0.000N stall=0 q=[ 0.484 0.145 1.940 -1.319 1.133 0.107]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.1363 force=0.0000
|
| 173 |
-
press step= 140 dist=0.0982m force=0.000N stall=0 q=[ 0.458 0.314 1.796 -1.351 1.115 0.119]
|
| 174 |
-
press step= 160 dist=0.0618m force=0.000N stall=0 q=[ 0.431 0.479 1.639 -1.382 1.109 0.131]
|
| 175 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 176 |
-
[AUTO_PRESS] count=321 env0 dist=0.0638 force=0.0000
|
| 177 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=56.504N dist=0.0472
|
| 178 |
-
[PRESSED] force-contact at step 171 force=56.504N dist=0.0425m
|
| 179 |
-
[PHASE] hold
|
| 180 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 181 |
-
[AUTO_PRESS] count=361 env0 dist=0.0474 force=1.7162
|
| 182 |
-
[PHASE] retract: up to 600 steps
|
| 183 |
-
[retract-1] button → pre-press
|
| 184 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 185 |
-
[AUTO_PRESS] count=401 env0 dist=0.1151 force=0.0000
|
| 186 |
-
[AUTO_PRESS] door state=2 progress=0.012 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.1892 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.245 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.2643 force=0.0000
|
| 190 |
-
pre-press reached at step 158 dist=0.0137m
|
| 191 |
-
[retract-2] pre-press → home
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.478 panels=2
|
| 193 |
-
[AUTO_PRESS] count=521 env0 dist=0.3391 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=2 progress=0.712 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.3939 force=0.0000
|
| 196 |
-
[AUTO_PRESS] door state=2 progress=0.945 panels=2
|
| 197 |
-
[AUTO_PRESS] count=601 env0 dist=0.4535 force=0.0000
|
| 198 |
-
home reached at step 107 dist=0.0137m
|
| 199 |
-
[PHASE] home_idle: 150 steps
|
| 200 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 201 |
-
[AUTO_PRESS] count=641 env0 dist=0.5028 force=0.0000
|
| 202 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 203 |
-
[AUTO_PRESS] count=681 env0 dist=0.4998 force=0.0000
|
| 204 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 205 |
-
[AUTO_PRESS] count=721 env0 dist=0.5000 force=0.0000
|
| 206 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 207 |
-
[AUTO_PRESS] count=761 env0 dist=0.5000 force=0.0000
|
| 208 |
-
|
| 209 |
-
============================================================
|
| 210 |
-
[RESULT] pressed : True
|
| 211 |
-
[RESULT] min_distance : 0.0425 m
|
| 212 |
-
[RESULT] final_dist : 0.5044 m
|
| 213 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_04.hdf5
|
| 214 |
-
============================================================
|
| 215 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 216 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024229.log
|
| 217 |
-
2026-04-23T02:42:29Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 218 |
-
2026-04-23T02:42:29Z [289ms] [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)
|
| 219 |
-
2026-04-23T02:42:29Z [303ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 220 |
-
|
| 221 |
-
|---------------------------------------------------------------------------------------------|
|
| 222 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 223 |
-
|=============================================================================================|
|
| 224 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 225 |
-
| | | | | | Device-ID | UUID |
|
| 226 |
-
| | | | | | Bus-ID | |
|
| 227 |
-
|---------------------------------------------------------------------------------------------|
|
| 228 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 229 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 230 |
-
| | | | | | 4 | |
|
| 231 |
-
|=============================================================================================|
|
| 232 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 233 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 234 |
-
| Cores: 30 | Logical Cores: 30
|
| 235 |
-
|---------------------------------------------------------------------------------------------|
|
| 236 |
-
| Total Memory (MB): 90484 | Free Memory: 87076
|
| 237 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 238 |
-
|---------------------------------------------------------------------------------------------|
|
| 239 |
-
2026-04-23T02:42:30Z [862ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 240 |
-
2026-04-23T02:42:30Z [1,340ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T02:42:30Z [1,340ms] [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)
|
| 242 |
-
2026-04-23T02:42:30Z [1,354ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T02:42:30Z [1,354ms] [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)
|
| 244 |
-
2026-04-23T02:42:30Z [1,360ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 245 |
-
2026-04-23T02:42:30Z [1,360ms] [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)
|
| 246 |
-
2026-04-23T02:42:30Z [1,366ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T02:42:30Z [1,366ms] [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)
|
| 248 |
-
2026-04-23T02:42:30Z [1,367ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 249 |
-
2026-04-23T02:42:30Z [1,367ms] [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)
|
| 250 |
-
2026-04-23T02:42:30Z [1,368ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 251 |
-
2026-04-23T02:42:30Z [1,368ms] [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)
|
| 252 |
-
2026-04-23T02:42:30Z [1,534ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 253 |
-
2026-04-23T02:42:31Z [1,804ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 254 |
-
2026-04-23T02:42:31Z [1,812ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 255 |
-
2026-04-23T02:42:32Z [3,500ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 256 |
-
2026-04-23T02:42:32Z [3,601ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 257 |
-
2026-04-23T02:42:32Z [3,601ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 258 |
-
2026-04-23T02:42:32Z [3,602ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 259 |
-
2026-04-23T02:42:36Z [7,185ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 260 |
-
|
| 261 |
-
2026-04-23T02:42:39Z [9,791ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 262 |
-
2026-04-23T02:42:39Z [9,791ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 263 |
-
2026-04-23T02:42:41Z [12,495ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 264 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 267 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 270 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 273 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 274 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 275 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 276 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 277 |
-
2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 278 |
-
2026-04-23T02:46:10Z [220,963ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 279 |
-
2026-04-23T02:46:10Z [221,035ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 280 |
-
2026-04-23T02:46:10Z [221,122ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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|
v02/demo_05.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:8fe6c851f8ce254daae84fc45629f8e1db351a1dcfc9a292c769543726fa65d0
|
| 3 |
-
size 2266768809
|
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|
v02/demo_05.log
DELETED
|
@@ -1,281 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_05.hdf5
|
| 8 |
-
Setting seed: 5
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 5
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.339868 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.477058 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 8
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.277 dir=-1.0 travel=0.554
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.277 dir=1.0 travel=0.554
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.7961, -0.9929, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.1542, -0.9918, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6419, -0.0012, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0012, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6769, -0.0012, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.605, 0.245, 2.416, -2.661, 0.966, -0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.5144 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.5144 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.3192000091075897, -1.108199954032898, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.152m tip_dist=0.486m q=[ 0.090 -1.473 2.659 -1.101 1.624 0.005]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4835 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.117m tip_dist=0.455m q=[ 0.192 -1.368 2.641 -1.109 1.625 0.012]
|
| 153 |
-
approach step= 60/100 pre_dist=0.079m tip_dist=0.423m q=[ 0.295 -1.240 2.614 -1.121 1.602 0.021]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.4261 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.042m tip_dist=0.392m q=[ 0.392 -1.093 2.573 -1.138 1.558 0.031]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 95 dist_to_pre=0.0138m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3677 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3375m force=0.000N stall=0 q=[ 0.484 -0.804 2.471 -1.175 1.418 0.050]
|
| 162 |
-
press step= 40 dist=0.3008m force=0.000N stall=0 q=[ 0.502 -0.607 2.391 -1.200 1.322 0.062]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2927 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2639m force=0.000N stall=0 q=[ 0.505 -0.408 2.296 -1.227 1.242 0.073]
|
| 166 |
-
press step= 80 dist=0.2271m force=0.000N stall=0 q=[ 0.495 -0.214 2.187 -1.256 1.180 0.085]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.2173 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1902m force=0.000N stall=0 q=[ 0.476 -0.028 2.065 -1.287 1.137 0.096]
|
| 170 |
-
press step= 120 dist=0.1533m force=0.000N stall=0 q=[ 0.453 0.149 1.932 -1.318 1.109 0.108]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.1427 force=0.0000
|
| 173 |
-
press step= 140 dist=0.1166m force=0.000N stall=0 q=[ 0.427 0.319 1.786 -1.350 1.094 0.120]
|
| 174 |
-
press step= 160 dist=0.0803m force=0.000N stall=0 q=[ 0.400 0.483 1.626 -1.381 1.092 0.133]
|
| 175 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 176 |
-
[AUTO_PRESS] count=321 env0 dist=0.0706 force=0.0000
|
| 177 |
-
press step= 180 dist=0.0446m force=0.000N stall=0 q=[ 0.372 0.645 1.449 -1.410 1.101 0.147]
|
| 178 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=2.572N dist=0.0470
|
| 179 |
-
[PRESSED] force-contact at step 181 force=2.572N dist=0.0429m
|
| 180 |
-
[PHASE] hold
|
| 181 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 182 |
-
[AUTO_PRESS] count=361 env0 dist=0.0471 force=0.0851
|
| 183 |
-
[PHASE] retract: up to 600 steps
|
| 184 |
-
[retract-1] button → pre-press
|
| 185 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 186 |
-
[AUTO_PRESS] count=401 env0 dist=0.1070 force=0.0000
|
| 187 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 188 |
-
[AUTO_PRESS] count=441 env0 dist=0.1800 force=0.0000
|
| 189 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 190 |
-
[AUTO_PRESS] count=481 env0 dist=0.2544 force=0.0000
|
| 191 |
-
[AUTO_PRESS] door state=2 progress=0.146 panels=2
|
| 192 |
-
[AUTO_PRESS] count=521 env0 dist=0.3294 force=0.0000
|
| 193 |
-
pre-press reached at step 169 dist=0.0140m
|
| 194 |
-
[retract-2] pre-press → home
|
| 195 |
-
[AUTO_PRESS] door state=2 progress=0.379 panels=2
|
| 196 |
-
[AUTO_PRESS] count=561 env0 dist=0.3929 force=0.0000
|
| 197 |
-
[AUTO_PRESS] door state=2 progress=0.613 panels=2
|
| 198 |
-
[AUTO_PRESS] count=601 env0 dist=0.4539 force=0.0000
|
| 199 |
-
home reached at step 100 dist=0.0137m
|
| 200 |
-
[PHASE] home_idle: 150 steps
|
| 201 |
-
[AUTO_PRESS] door state=2 progress=0.846 panels=2
|
| 202 |
-
[AUTO_PRESS] count=641 env0 dist=0.5207 force=0.0000
|
| 203 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 204 |
-
[AUTO_PRESS] count=681 env0 dist=0.5138 force=0.0000
|
| 205 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 206 |
-
[AUTO_PRESS] count=721 env0 dist=0.5145 force=0.0000
|
| 207 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 208 |
-
[AUTO_PRESS] count=761 env0 dist=0.5144 force=0.0000
|
| 209 |
-
|
| 210 |
-
============================================================
|
| 211 |
-
[RESULT] pressed : True
|
| 212 |
-
[RESULT] min_distance : 0.0429 m
|
| 213 |
-
[RESULT] final_dist : 0.5179 m
|
| 214 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_05.hdf5
|
| 215 |
-
============================================================
|
| 216 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 217 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024611.log
|
| 218 |
-
2026-04-23T02:46:11Z [287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 219 |
-
2026-04-23T02:46:11Z [287ms] [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)
|
| 220 |
-
2026-04-23T02:46:11Z [300ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 221 |
-
|
| 222 |
-
|---------------------------------------------------------------------------------------------|
|
| 223 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 224 |
-
|=============================================================================================|
|
| 225 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 226 |
-
| | | | | | Device-ID | UUID |
|
| 227 |
-
| | | | | | Bus-ID | |
|
| 228 |
-
|---------------------------------------------------------------------------------------------|
|
| 229 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 230 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 231 |
-
| | | | | | 4 | |
|
| 232 |
-
|=============================================================================================|
|
| 233 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 234 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 235 |
-
| Cores: 30 | Logical Cores: 30
|
| 236 |
-
|---------------------------------------------------------------------------------------------|
|
| 237 |
-
| Total Memory (MB): 90484 | Free Memory: 87092
|
| 238 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 239 |
-
|---------------------------------------------------------------------------------------------|
|
| 240 |
-
2026-04-23T02:46:11Z [797ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 241 |
-
2026-04-23T02:46:12Z [1,179ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 242 |
-
2026-04-23T02:46:12Z [1,179ms] [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)
|
| 243 |
-
2026-04-23T02:46:12Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 244 |
-
2026-04-23T02:46:12Z [1,192ms] [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)
|
| 245 |
-
2026-04-23T02:46:12Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 246 |
-
2026-04-23T02:46:12Z [1,198ms] [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)
|
| 247 |
-
2026-04-23T02:46:12Z [1,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 248 |
-
2026-04-23T02:46:12Z [1,202ms] [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)
|
| 249 |
-
2026-04-23T02:46:12Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 250 |
-
2026-04-23T02:46:12Z [1,203ms] [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)
|
| 251 |
-
2026-04-23T02:46:12Z [1,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 252 |
-
2026-04-23T02:46:12Z [1,204ms] [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)
|
| 253 |
-
2026-04-23T02:46:12Z [1,338ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 254 |
-
2026-04-23T02:46:12Z [1,544ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 255 |
-
2026-04-23T02:46:12Z [1,550ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 256 |
-
2026-04-23T02:46:14Z [3,634ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 257 |
-
2026-04-23T02:46:14Z [3,745ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 258 |
-
2026-04-23T02:46:14Z [3,745ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 259 |
-
2026-04-23T02:46:14Z [3,746ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 260 |
-
2026-04-23T02:46:19Z [8,187ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
|
| 261 |
-
|
| 262 |
-
2026-04-23T02:46:22Z [11,177ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 263 |
-
2026-04-23T02:46:22Z [11,177ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 264 |
-
2026-04-23T02:46:24Z [13,818ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 265 |
-
2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
-
2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 268 |
-
2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:50:00Z [229,523ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
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|
v02/demo_06.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:c54c6db6936450fe0f1c9a38fcd716d340423f0ca3424189f5c114c73c71b6d8
|
| 3 |
-
size 2401095377
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_06.log
DELETED
|
@@ -1,272 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_06.hdf5
|
| 8 |
-
Setting seed: 6
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 6
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.343238 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.479247 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 19
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.284 dir=-1.0 travel=0.568
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.284 dir=1.0 travel=0.568
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.8638, 0.9662, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.3096, 1.0054, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.5542, -0.0392, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0392, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.5892, -0.0392, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.401, 0.258, 2.395, -2.653, 1.17, -0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4275 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4275 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.4745999872684479, 0.8889999985694885, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.131m tip_dist=0.396m q=[ 0.088 -1.455 2.657 -1.102 1.601 0.006]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.3935 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.096m tip_dist=0.363m q=[ 0.186 -1.333 2.634 -1.112 1.577 0.015]
|
| 153 |
-
approach step= 60/100 pre_dist=0.058m tip_dist=0.328m q=[ 0.282 -1.190 2.601 -1.126 1.530 0.025]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3300 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.021m tip_dist=0.294m q=[ 0.368 -1.026 2.554 -1.145 1.465 0.036]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0134m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.2638 force=0.0000
|
| 161 |
-
press step= 20 dist=0.2559m force=0.000N stall=0 q=[ 0.416 -0.826 2.489 -1.166 1.361 0.048]
|
| 162 |
-
press step= 40 dist=0.2192m force=0.000N stall=0 q=[ 0.439 -0.627 2.415 -1.188 1.268 0.060]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.1883 force=0.0000
|
| 165 |
-
press step= 60 dist=0.1822m force=0.000N stall=0 q=[ 0.447 -0.422 2.326 -1.212 1.191 0.072]
|
| 166 |
-
press step= 80 dist=0.1454m force=0.000N stall=0 q=[ 0.440 -0.222 2.221 -1.238 1.133 0.084]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1139 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1084m force=0.000N stall=0 q=[ 0.423 -0.031 2.103 -1.268 1.094 0.096]
|
| 170 |
-
press step= 120 dist=0.0715m force=0.000N stall=0 q=[ 0.401 0.150 1.972 -1.298 1.069 0.108]
|
| 171 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=6.877N dist=0.0460
|
| 172 |
-
[PRESSED] force-contact at step 136 force=6.877N dist=0.0421m
|
| 173 |
-
[PHASE] hold
|
| 174 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 175 |
-
[AUTO_PRESS] count=281 env0 dist=0.0468 force=0.0000
|
| 176 |
-
[PHASE] retract: up to 600 steps
|
| 177 |
-
[retract-1] button → pre-press
|
| 178 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 179 |
-
[AUTO_PRESS] count=321 env0 dist=0.0642 force=0.0000
|
| 180 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 181 |
-
[AUTO_PRESS] count=361 env0 dist=0.1367 force=0.0000
|
| 182 |
-
[AUTO_PRESS] door state=2 progress=0.163 panels=2
|
| 183 |
-
[AUTO_PRESS] count=401 env0 dist=0.2107 force=0.0000
|
| 184 |
-
pre-press reached at step 123 dist=0.0142m
|
| 185 |
-
[retract-2] pre-press → home
|
| 186 |
-
[AUTO_PRESS] door state=2 progress=0.397 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.2831 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.630 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.3494 force=0.0000
|
| 190 |
-
home reached at step 89 dist=0.0148m
|
| 191 |
-
[PHASE] home_idle: 150 steps
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.863 panels=2
|
| 193 |
-
[AUTO_PRESS] count=521 env0 dist=0.4171 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.4285 force=0.0000
|
| 196 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 197 |
-
[AUTO_PRESS] count=601 env0 dist=0.4274 force=0.0000
|
| 198 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 199 |
-
[AUTO_PRESS] count=641 env0 dist=0.4275 force=0.0000
|
| 200 |
-
|
| 201 |
-
============================================================
|
| 202 |
-
[RESULT] pressed : True
|
| 203 |
-
[RESULT] min_distance : 0.0421 m
|
| 204 |
-
[RESULT] final_dist : 0.4300 m
|
| 205 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_06.hdf5
|
| 206 |
-
============================================================
|
| 207 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 208 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025001.log
|
| 209 |
-
2026-04-23T02:50:01Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 210 |
-
2026-04-23T02:50:01Z [289ms] [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)
|
| 211 |
-
2026-04-23T02:50:01Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 212 |
-
|
| 213 |
-
|---------------------------------------------------------------------------------------------|
|
| 214 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 215 |
-
|=============================================================================================|
|
| 216 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 217 |
-
| | | | | | Device-ID | UUID |
|
| 218 |
-
| | | | | | Bus-ID | |
|
| 219 |
-
|---------------------------------------------------------------------------------------------|
|
| 220 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 221 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 222 |
-
| | | | | | 4 | |
|
| 223 |
-
|=============================================================================================|
|
| 224 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 225 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 226 |
-
| Cores: 30 | Logical Cores: 30
|
| 227 |
-
|---------------------------------------------------------------------------------------------|
|
| 228 |
-
| Total Memory (MB): 90484 | Free Memory: 87079
|
| 229 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 230 |
-
|---------------------------------------------------------------------------------------------|
|
| 231 |
-
2026-04-23T02:50:02Z [798ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 232 |
-
2026-04-23T02:50:02Z [1,176ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 233 |
-
2026-04-23T02:50:02Z [1,176ms] [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)
|
| 234 |
-
2026-04-23T02:50:02Z [1,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 235 |
-
2026-04-23T02:50:02Z [1,189ms] [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)
|
| 236 |
-
2026-04-23T02:50:02Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 237 |
-
2026-04-23T02:50:02Z [1,194ms] [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)
|
| 238 |
-
2026-04-23T02:50:02Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 239 |
-
2026-04-23T02:50:02Z [1,199ms] [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)
|
| 240 |
-
2026-04-23T02:50:02Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T02:50:02Z [1,200ms] [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)
|
| 242 |
-
2026-04-23T02:50:02Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T02:50:02Z [1,200ms] [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)
|
| 244 |
-
2026-04-23T02:50:02Z [1,333ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 245 |
-
2026-04-23T02:50:02Z [1,541ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 246 |
-
2026-04-23T02:50:02Z [1,547ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 247 |
-
2026-04-23T02:50:04Z [3,124ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 248 |
-
2026-04-23T02:50:04Z [3,220ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 249 |
-
2026-04-23T02:50:04Z [3,220ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 250 |
-
2026-04-23T02:50:04Z [3,221ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 251 |
-
2026-04-23T02:50:08Z [6,721ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 252 |
-
|
| 253 |
-
2026-04-23T02:50:11Z [9,711ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 254 |
-
2026-04-23T02:50:11Z [9,711ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 255 |
-
2026-04-23T02:50:13Z [12,383ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 256 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 257 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 258 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 259 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 260 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 261 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 262 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 263 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 264 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 270 |
-
2026-04-23T02:53:45Z [223,776ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 271 |
-
2026-04-23T02:53:45Z [223,849ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 272 |
-
2026-04-23T02:53:45Z [223,929ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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v02/demo_07.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:ea95b71d7c85edc48b512d063fe87bdc6947af36fa4a7429c2f66964d77a8e33
|
| 3 |
-
size 2053377950
|
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|
v02/demo_07.log
DELETED
|
@@ -1,280 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_07.hdf5
|
| 8 |
-
Setting seed: 7
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 7
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.108618 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.487348 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 15
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.456
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.456
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.678, -0.8049, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.0557, -0.8527, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6223, 0.0478, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, 0.0478, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6573, 0.0478, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.829, 0.264, 2.385, -2.649, 0.741, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.5081 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.5081 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.22059999406337738, -0.9690999984741211, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.186m tip_dist=0.483m q=[ 0.088 -1.492 2.662 -1.099 1.646 0.004]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4793 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.151m tip_dist=0.454m q=[ 0.192 -1.406 2.648 -1.106 1.671 0.010]
|
| 153 |
-
approach step= 60/100 pre_dist=0.113m tip_dist=0.424m q=[ 0.301 -1.295 2.625 -1.116 1.672 0.018]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.4265 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.076m tip_dist=0.395m q=[ 0.408 -1.163 2.591 -1.131 1.650 0.027]
|
| 157 |
-
approach step=100/100 pre_dist=0.039m tip_dist=0.367m q=[ 0.505 -1.014 2.543 -1.150 1.610 0.037]
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3749 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3339m force=0.000N stall=0 q=[ 0.536 -0.846 2.483 -1.172 1.512 0.047]
|
| 162 |
-
press step= 40 dist=0.2971m force=0.000N stall=0 q=[ 0.557 -0.657 2.409 -1.196 1.413 0.059]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.3018 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2601m force=0.000N stall=0 q=[ 0.565 -0.464 2.321 -1.223 1.327 0.070]
|
| 166 |
-
press step= 80 dist=0.2232m force=0.000N stall=0 q=[ 0.560 -0.273 2.220 -1.251 1.258 0.081]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.2260 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1862m force=0.000N stall=0 q=[ 0.545 -0.088 2.106 -1.281 1.206 0.092]
|
| 170 |
-
press step= 120 dist=0.1491m force=0.000N stall=0 q=[ 0.525 0.089 1.980 -1.313 1.168 0.103]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.1508 force=0.0000
|
| 173 |
-
press step= 140 dist=0.1123m force=0.000N stall=0 q=[ 0.502 0.260 1.842 -1.345 1.144 0.114]
|
| 174 |
-
press step= 160 dist=0.0757m force=0.000N stall=0 q=[ 0.476 0.425 1.690 -1.377 1.132 0.126]
|
| 175 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 176 |
-
[AUTO_PRESS] count=321 env0 dist=0.0776 force=0.0000
|
| 177 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=78.823N dist=0.0472
|
| 178 |
-
[PRESSED] force-contact at step 179 force=78.823N dist=0.0425m
|
| 179 |
-
[PHASE] hold
|
| 180 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 181 |
-
[AUTO_PRESS] count=361 env0 dist=0.0473 force=0.9455
|
| 182 |
-
[PHASE] retract: up to 600 steps
|
| 183 |
-
[retract-1] button → pre-press
|
| 184 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 185 |
-
[AUTO_PRESS] count=401 env0 dist=0.1019 force=0.0000
|
| 186 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.1753 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.2504 force=0.0000
|
| 190 |
-
[AUTO_PRESS] door state=2 progress=0.064 panels=2
|
| 191 |
-
[AUTO_PRESS] count=521 env0 dist=0.3263 force=0.0000
|
| 192 |
-
pre-press reached at step 158 dist=0.0143m
|
| 193 |
-
[retract-2] pre-press → home
|
| 194 |
-
[AUTO_PRESS] door state=2 progress=0.298 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.3805 force=0.0000
|
| 196 |
-
[AUTO_PRESS] door state=2 progress=0.531 panels=2
|
| 197 |
-
[AUTO_PRESS] count=601 env0 dist=0.4360 force=0.0000
|
| 198 |
-
[AUTO_PRESS] door state=2 progress=0.764 panels=2
|
| 199 |
-
[AUTO_PRESS] count=641 env0 dist=0.4947 force=0.0000
|
| 200 |
-
home reached at step 118 dist=0.0131m
|
| 201 |
-
[PHASE] home_idle: 150 steps
|
| 202 |
-
[AUTO_PRESS] door state=2 progress=0.998 panels=2
|
| 203 |
-
[AUTO_PRESS] count=681 env0 dist=0.5095 force=0.0000
|
| 204 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 205 |
-
[AUTO_PRESS] count=721 env0 dist=0.5080 force=0.0000
|
| 206 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 207 |
-
[AUTO_PRESS] count=761 env0 dist=0.5081 force=0.0000
|
| 208 |
-
|
| 209 |
-
============================================================
|
| 210 |
-
[RESULT] pressed : True
|
| 211 |
-
[RESULT] min_distance : 0.0425 m
|
| 212 |
-
[RESULT] final_dist : 0.5134 m
|
| 213 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_07.hdf5
|
| 214 |
-
============================================================
|
| 215 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 216 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025345.log
|
| 217 |
-
2026-04-23T02:53:46Z [285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 218 |
-
2026-04-23T02:53:46Z [285ms] [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)
|
| 219 |
-
2026-04-23T02:53:46Z [296ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 220 |
-
|
| 221 |
-
|---------------------------------------------------------------------------------------------|
|
| 222 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 223 |
-
|=============================================================================================|
|
| 224 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 225 |
-
| | | | | | Device-ID | UUID |
|
| 226 |
-
| | | | | | Bus-ID | |
|
| 227 |
-
|---------------------------------------------------------------------------------------------|
|
| 228 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 229 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 230 |
-
| | | | | | 4 | |
|
| 231 |
-
|=============================================================================================|
|
| 232 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 233 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 234 |
-
| Cores: 30 | Logical Cores: 30
|
| 235 |
-
|---------------------------------------------------------------------------------------------|
|
| 236 |
-
| Total Memory (MB): 90484 | Free Memory: 87088
|
| 237 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 238 |
-
|---------------------------------------------------------------------------------------------|
|
| 239 |
-
2026-04-23T02:53:46Z [789ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 240 |
-
2026-04-23T02:53:47Z [1,167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T02:53:47Z [1,167ms] [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)
|
| 242 |
-
2026-04-23T02:53:47Z [1,181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T02:53:47Z [1,181ms] [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)
|
| 244 |
-
2026-04-23T02:53:47Z [1,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 245 |
-
2026-04-23T02:53:47Z [1,186ms] [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)
|
| 246 |
-
2026-04-23T02:53:47Z [1,191ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T02:53:47Z [1,191ms] [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)
|
| 248 |
-
2026-04-23T02:53:47Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 249 |
-
2026-04-23T02:53:47Z [1,192ms] [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)
|
| 250 |
-
2026-04-23T02:53:47Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 251 |
-
2026-04-23T02:53:47Z [1,192ms] [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)
|
| 252 |
-
2026-04-23T02:53:47Z [1,322ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 253 |
-
2026-04-23T02:53:47Z [1,522ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 254 |
-
2026-04-23T02:53:47Z [1,527ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 255 |
-
2026-04-23T02:53:49Z [3,097ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 256 |
-
2026-04-23T02:53:49Z [3,200ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 257 |
-
2026-04-23T02:53:49Z [3,200ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 258 |
-
2026-04-23T02:53:49Z [3,200ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 259 |
-
2026-04-23T02:53:52Z [6,679ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 260 |
-
|
| 261 |
-
2026-04-23T02:53:55Z [9,615ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 262 |
-
2026-04-23T02:53:55Z [9,615ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 263 |
-
2026-04-23T02:53:58Z [12,305ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 264 |
-
2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
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|
v02/demo_08.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:f61f471209e3ca43bd740398f347650f4f53d34dc32fe49cb55a16787fe15e3e
|
| 3 |
-
size 2738901845
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_08.log
DELETED
|
@@ -1,278 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_08.hdf5
|
| 8 |
-
Setting seed: 8
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 8
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.331254 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.480164 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 10
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.250 dir=-1.0 travel=0.500
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.250 dir=1.0 travel=0.500
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.7607, 0.8762, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.1576, 0.9029, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6031, -0.0267, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0267, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6381, -0.0267, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.47, 0.251, 2.406, -2.657, 1.101, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4742 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4742 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.32249999046325684, 0.7864999771118164, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.137m tip_dist=0.443m q=[ 0.089 -1.461 2.658 -1.102 1.609 0.006]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4414 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.102m tip_dist=0.411m q=[ 0.189 -1.345 2.636 -1.111 1.594 0.014]
|
| 153 |
-
approach step= 60/100 pre_dist=0.064m tip_dist=0.378m q=[ 0.287 -1.207 2.606 -1.125 1.555 0.024]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3800 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.027m tip_dist=0.345m q=[ 0.377 -1.049 2.561 -1.142 1.498 0.034]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 87 dist_to_pre=0.0139m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3163 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3017m force=0.000N stall=0 q=[ 0.438 -0.822 2.483 -1.169 1.380 0.049]
|
| 162 |
-
press step= 40 dist=0.2651m force=0.000N stall=0 q=[ 0.460 -0.622 2.405 -1.193 1.285 0.061]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2404 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2282m force=0.000N stall=0 q=[ 0.466 -0.419 2.312 -1.219 1.207 0.073]
|
| 166 |
-
press step= 80 dist=0.1914m force=0.000N stall=0 q=[ 0.458 -0.221 2.204 -1.247 1.148 0.084]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1656 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1544m force=0.000N stall=0 q=[ 0.440 -0.032 2.083 -1.277 1.107 0.096]
|
| 170 |
-
press step= 120 dist=0.1175m force=0.000N stall=0 q=[ 0.417 0.147 1.950 -1.308 1.082 0.108]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.0919 force=0.0000
|
| 173 |
-
press step= 140 dist=0.0808m force=0.000N stall=0 q=[ 0.392 0.317 1.805 -1.340 1.070 0.120]
|
| 174 |
-
press step= 160 dist=0.0445m force=0.000N stall=0 q=[ 0.365 0.482 1.647 -1.371 1.069 0.133]
|
| 175 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=71.494N dist=0.0458
|
| 176 |
-
[PRESSED] force-contact at step 162 force=71.494N dist=0.0423m
|
| 177 |
-
[PHASE] hold
|
| 178 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 179 |
-
[AUTO_PRESS] count=321 env0 dist=0.0459 force=0.8426
|
| 180 |
-
[PHASE] retract: up to 600 steps
|
| 181 |
-
[retract-1] button → pre-press
|
| 182 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 183 |
-
[AUTO_PRESS] count=361 env0 dist=0.0833 force=0.0000
|
| 184 |
-
[AUTO_PRESS] door state=2 progress=0.093 panels=2
|
| 185 |
-
[AUTO_PRESS] count=401 env0 dist=0.1560 force=0.0000
|
| 186 |
-
[AUTO_PRESS] door state=2 progress=0.327 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.2296 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.560 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.3044 force=0.0000
|
| 190 |
-
pre-press reached at step 149 dist=0.0137m
|
| 191 |
-
[retract-2] pre-press → home
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.793 panels=2
|
| 193 |
-
[AUTO_PRESS] count=521 env0 dist=0.3691 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.4347 force=0.0000
|
| 196 |
-
home reached at step 92 dist=0.0145m
|
| 197 |
-
[PHASE] home_idle: 150 steps
|
| 198 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 199 |
-
[AUTO_PRESS] count=601 env0 dist=0.4702 force=0.0000
|
| 200 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 201 |
-
[AUTO_PRESS] count=641 env0 dist=0.4745 force=0.0000
|
| 202 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 203 |
-
[AUTO_PRESS] count=681 env0 dist=0.4741 force=0.0000
|
| 204 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 205 |
-
[AUTO_PRESS] count=721 env0 dist=0.4742 force=0.0000
|
| 206 |
-
|
| 207 |
-
============================================================
|
| 208 |
-
[RESULT] pressed : True
|
| 209 |
-
[RESULT] min_distance : 0.0423 m
|
| 210 |
-
[RESULT] final_dist : 0.4769 m
|
| 211 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_08.hdf5
|
| 212 |
-
============================================================
|
| 213 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 214 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025716.log
|
| 215 |
-
2026-04-23T02:57:16Z [288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 216 |
-
2026-04-23T02:57:16Z [288ms] [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)
|
| 217 |
-
2026-04-23T02:57:16Z [301ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 218 |
-
|
| 219 |
-
|---------------------------------------------------------------------------------------------|
|
| 220 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 221 |
-
|=============================================================================================|
|
| 222 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 223 |
-
| | | | | | Device-ID | UUID |
|
| 224 |
-
| | | | | | Bus-ID | |
|
| 225 |
-
|---------------------------------------------------------------------------------------------|
|
| 226 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 227 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 228 |
-
| | | | | | 4 | |
|
| 229 |
-
|=============================================================================================|
|
| 230 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 231 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 232 |
-
| Cores: 30 | Logical Cores: 30
|
| 233 |
-
|---------------------------------------------------------------------------------------------|
|
| 234 |
-
| Total Memory (MB): 90484 | Free Memory: 87076
|
| 235 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 236 |
-
|---------------------------------------------------------------------------------------------|
|
| 237 |
-
2026-04-23T02:57:17Z [789ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 238 |
-
2026-04-23T02:57:17Z [1,170ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 239 |
-
2026-04-23T02:57:17Z [1,170ms] [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)
|
| 240 |
-
2026-04-23T02:57:17Z [1,183ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T02:57:17Z [1,183ms] [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)
|
| 242 |
-
2026-04-23T02:57:17Z [1,188ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T02:57:17Z [1,188ms] [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)
|
| 244 |
-
2026-04-23T02:57:17Z [1,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 245 |
-
2026-04-23T02:57:17Z [1,193ms] [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)
|
| 246 |
-
2026-04-23T02:57:17Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T02:57:17Z [1,194ms] [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)
|
| 248 |
-
2026-04-23T02:57:17Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 249 |
-
2026-04-23T02:57:17Z [1,194ms] [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)
|
| 250 |
-
2026-04-23T02:57:17Z [1,327ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 251 |
-
2026-04-23T02:57:17Z [1,532ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 252 |
-
2026-04-23T02:57:17Z [1,538ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 253 |
-
2026-04-23T02:57:19Z [3,109ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 254 |
-
2026-04-23T02:57:19Z [3,208ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 255 |
-
2026-04-23T02:57:19Z [3,208ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 256 |
-
2026-04-23T02:57:19Z [3,209ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 257 |
-
2026-04-23T02:57:23Z [6,776ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 258 |
-
|
| 259 |
-
2026-04-23T02:57:26Z [9,717ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 260 |
-
2026-04-23T02:57:26Z [9,717ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 261 |
-
2026-04-23T02:57:28Z [12,412ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 262 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 263 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 264 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 265 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 270 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 273 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 274 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 275 |
-
2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 276 |
-
2026-04-23T03:01:17Z [241,005ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 277 |
-
2026-04-23T03:01:17Z [241,079ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 278 |
-
2026-04-23T03:01:17Z [241,146ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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v02/demo_09.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:dba4fcdb189957dad2244119f240eed3327b3f9ec8455dcf000f9bbfda0e3ddd
|
| 3 |
-
size 2430212897
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v02/demo_09.log
DELETED
|
@@ -1,275 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_09.hdf5
|
| 8 |
-
Setting seed: 9
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 9
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.302000 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.499495 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 19
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.284 dir=-1.0 travel=0.568
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.284 dir=1.0 travel=0.568
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.8638, 0.9662, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.3004, 1.002, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.5634, -0.0358, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0358, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.5984, -0.0358, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.42, 0.256, 2.398, -2.654, 1.151, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4363 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4363 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.46540001034736633, 0.8855000138282776, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.133m tip_dist=0.405m q=[ 0.089 -1.456 2.657 -1.102 1.603 0.006]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4027 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.097m tip_dist=0.372m q=[ 0.187 -1.337 2.634 -1.112 1.581 0.015]
|
| 153 |
-
approach step= 60/100 pre_dist=0.060m tip_dist=0.338m q=[ 0.283 -1.194 2.602 -1.126 1.537 0.024]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3397 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.022m tip_dist=0.304m q=[ 0.371 -1.033 2.556 -1.144 1.474 0.035]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0150m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.2739 force=0.0000
|
| 161 |
-
press step= 20 dist=0.2658m force=0.000N stall=0 q=[ 0.419 -0.832 2.490 -1.166 1.369 0.048]
|
| 162 |
-
press step= 40 dist=0.2291m force=0.000N stall=0 q=[ 0.444 -0.633 2.416 -1.188 1.275 0.060]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.1983 force=0.0000
|
| 165 |
-
press step= 60 dist=0.1922m force=0.000N stall=0 q=[ 0.452 -0.429 2.327 -1.212 1.198 0.072]
|
| 166 |
-
press step= 80 dist=0.1553m force=0.000N stall=0 q=[ 0.445 -0.229 2.222 -1.239 1.139 0.084]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1239 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1184m force=0.000N stall=0 q=[ 0.428 -0.038 2.103 -1.268 1.099 0.095]
|
| 170 |
-
press step= 120 dist=0.0814m force=0.000N stall=0 q=[ 0.406 0.142 1.973 -1.299 1.073 0.107]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.0518 force=0.0000
|
| 173 |
-
press step= 140 dist=0.0447m force=0.000N stall=0 q=[ 0.381 0.314 1.830 -1.331 1.061 0.119]
|
| 174 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=63.869N dist=0.0457
|
| 175 |
-
[PRESSED] force-contact at step 142 force=63.869N dist=0.0420m
|
| 176 |
-
[PHASE] hold
|
| 177 |
-
[PHASE] retract: up to 600 steps
|
| 178 |
-
[retract-1] button → pre-press
|
| 179 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 180 |
-
[AUTO_PRESS] count=321 env0 dist=0.0525 force=0.0000
|
| 181 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 182 |
-
[AUTO_PRESS] count=361 env0 dist=0.1242 force=0.0000
|
| 183 |
-
[AUTO_PRESS] door state=2 progress=0.058 panels=2
|
| 184 |
-
[AUTO_PRESS] count=401 env0 dist=0.1986 force=0.0000
|
| 185 |
-
[AUTO_PRESS] door state=2 progress=0.292 panels=2
|
| 186 |
-
[AUTO_PRESS] count=441 env0 dist=0.2733 force=0.0000
|
| 187 |
-
pre-press reached at step 128 dist=0.0146m
|
| 188 |
-
[retract-2] pre-press → home
|
| 189 |
-
[AUTO_PRESS] door state=2 progress=0.525 panels=2
|
| 190 |
-
[AUTO_PRESS] count=481 env0 dist=0.3386 force=0.0000
|
| 191 |
-
[AUTO_PRESS] door state=2 progress=0.758 panels=2
|
| 192 |
-
[AUTO_PRESS] count=521 env0 dist=0.4061 force=0.0000
|
| 193 |
-
home reached at step 90 dist=0.0147m
|
| 194 |
-
[PHASE] home_idle: 150 steps
|
| 195 |
-
[AUTO_PRESS] door state=2 progress=0.992 panels=2
|
| 196 |
-
[AUTO_PRESS] count=561 env0 dist=0.4348 force=0.0000
|
| 197 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 198 |
-
[AUTO_PRESS] count=601 env0 dist=0.4365 force=0.0000
|
| 199 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 200 |
-
[AUTO_PRESS] count=641 env0 dist=0.4363 force=0.0000
|
| 201 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 202 |
-
[AUTO_PRESS] count=681 env0 dist=0.4363 force=0.0000
|
| 203 |
-
|
| 204 |
-
============================================================
|
| 205 |
-
[RESULT] pressed : True
|
| 206 |
-
[RESULT] min_distance : 0.0420 m
|
| 207 |
-
[RESULT] final_dist : 0.4390 m
|
| 208 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_09.hdf5
|
| 209 |
-
============================================================
|
| 210 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 211 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030118.log
|
| 212 |
-
2026-04-23T03:01:18Z [287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 213 |
-
2026-04-23T03:01:18Z [287ms] [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)
|
| 214 |
-
2026-04-23T03:01:18Z [301ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 215 |
-
|
| 216 |
-
|---------------------------------------------------------------------------------------------|
|
| 217 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 218 |
-
|=============================================================================================|
|
| 219 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 220 |
-
| | | | | | Device-ID | UUID |
|
| 221 |
-
| | | | | | Bus-ID | |
|
| 222 |
-
|---------------------------------------------------------------------------------------------|
|
| 223 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 224 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 225 |
-
| | | | | | 4 | |
|
| 226 |
-
|=============================================================================================|
|
| 227 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 228 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 229 |
-
| Cores: 30 | Logical Cores: 30
|
| 230 |
-
|---------------------------------------------------------------------------------------------|
|
| 231 |
-
| Total Memory (MB): 90484 | Free Memory: 87084
|
| 232 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 233 |
-
|---------------------------------------------------------------------------------------------|
|
| 234 |
-
2026-04-23T03:01:19Z [805ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 235 |
-
2026-04-23T03:01:19Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 236 |
-
2026-04-23T03:01:19Z [1,192ms] [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)
|
| 237 |
-
2026-04-23T03:01:19Z [1,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 238 |
-
2026-04-23T03:01:19Z [1,205ms] [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)
|
| 239 |
-
2026-04-23T03:01:19Z [1,211ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 240 |
-
2026-04-23T03:01:19Z [1,211ms] [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)
|
| 241 |
-
2026-04-23T03:01:19Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 242 |
-
2026-04-23T03:01:19Z [1,215ms] [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)
|
| 243 |
-
2026-04-23T03:01:19Z [1,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 244 |
-
2026-04-23T03:01:19Z [1,216ms] [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)
|
| 245 |
-
2026-04-23T03:01:19Z [1,217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 246 |
-
2026-04-23T03:01:19Z [1,217ms] [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)
|
| 247 |
-
2026-04-23T03:01:19Z [1,350ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 248 |
-
2026-04-23T03:01:19Z [1,559ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 249 |
-
2026-04-23T03:01:19Z [1,565ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 250 |
-
2026-04-23T03:01:21Z [3,155ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 251 |
-
2026-04-23T03:01:21Z [3,295ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 252 |
-
2026-04-23T03:01:21Z [3,295ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 253 |
-
2026-04-23T03:01:21Z [3,295ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 254 |
-
2026-04-23T03:01:25Z [6,985ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
|
| 255 |
-
|
| 256 |
-
2026-04-23T03:01:28Z [9,971ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 257 |
-
2026-04-23T03:01:28Z [9,971ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 258 |
-
2026-04-23T03:01:30Z [12,676ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
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|
v02/demo_10.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:299f9e96d7fada20a9b8cd7d16202c852c8fcb394eab684dd8353d97898082e9
|
| 3 |
-
size 2224152457
|
|
|
|
|
|
|
|
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|
|
|
v02/demo_10.log
DELETED
|
@@ -1,280 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_10.hdf5
|
| 8 |
-
Setting seed: 10
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 10
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.080922 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.406045 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 8
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.230 dir=-1.0 travel=0.461
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.230 dir=1.0 travel=0.461
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.5989, -0.8324, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [-0.026, -0.8323, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6249, -0.0001, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0001, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6599, -0.0001, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.61, 0.245, 2.416, -2.661, 0.961, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4989 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4989 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.1388999968767166, -0.9487000107765198, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.153m tip_dist=0.470m q=[ 0.090 -1.473 2.660 -1.101 1.625 0.005]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4679 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.117m tip_dist=0.439m q=[ 0.192 -1.369 2.641 -1.109 1.626 0.012]
|
| 153 |
-
approach step= 60/100 pre_dist=0.080m tip_dist=0.408m q=[ 0.296 -1.242 2.614 -1.121 1.603 0.021]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.4104 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.042m tip_dist=0.377m q=[ 0.393 -1.095 2.574 -1.138 1.560 0.031]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 95 dist_to_pre=0.0144m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3520 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3219m force=0.000N stall=0 q=[ 0.485 -0.807 2.473 -1.174 1.421 0.050]
|
| 162 |
-
press step= 40 dist=0.2851m force=0.000N stall=0 q=[ 0.503 -0.610 2.394 -1.199 1.325 0.061]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2770 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2482m force=0.000N stall=0 q=[ 0.507 -0.411 2.300 -1.225 1.245 0.073]
|
| 166 |
-
press step= 80 dist=0.2114m force=0.000N stall=0 q=[ 0.497 -0.217 2.192 -1.254 1.183 0.085]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.2016 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1744m force=0.000N stall=0 q=[ 0.479 -0.030 2.072 -1.285 1.139 0.096]
|
| 170 |
-
press step= 120 dist=0.1375m force=0.000N stall=0 q=[ 0.455 0.147 1.939 -1.316 1.111 0.108]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.1271 force=0.0000
|
| 173 |
-
press step= 140 dist=0.1008m force=0.000N stall=0 q=[ 0.429 0.317 1.795 -1.348 1.095 0.119]
|
| 174 |
-
press step= 160 dist=0.0645m force=0.000N stall=0 q=[ 0.402 0.481 1.636 -1.379 1.092 0.132]
|
| 175 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 176 |
-
[AUTO_PRESS] count=321 env0 dist=0.0556 force=0.0000
|
| 177 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=75.691N dist=0.0467
|
| 178 |
-
[PRESSED] force-contact at step 173 force=75.691N dist=0.0427m
|
| 179 |
-
[PHASE] hold
|
| 180 |
-
[PHASE] retract: up to 600 steps
|
| 181 |
-
[retract-1] button → pre-press
|
| 182 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 183 |
-
[AUTO_PRESS] count=361 env0 dist=0.0499 force=0.0000
|
| 184 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 185 |
-
[AUTO_PRESS] count=401 env0 dist=0.1214 force=0.0000
|
| 186 |
-
[AUTO_PRESS] door state=2 progress=0.047 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.1956 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.280 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.2704 force=0.0000
|
| 190 |
-
pre-press reached at step 160 dist=0.0136m
|
| 191 |
-
[retract-2] pre-press → home
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.513 panels=2
|
| 193 |
-
[AUTO_PRESS] count=521 env0 dist=0.3440 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=2 progress=0.747 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.4025 force=0.0000
|
| 196 |
-
[AUTO_PRESS] door state=2 progress=0.980 panels=2
|
| 197 |
-
[AUTO_PRESS] count=601 env0 dist=0.4647 force=0.0000
|
| 198 |
-
home reached at step 100 dist=0.0136m
|
| 199 |
-
[PHASE] home_idle: 150 steps
|
| 200 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 201 |
-
[AUTO_PRESS] count=641 env0 dist=0.4953 force=0.0000
|
| 202 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 203 |
-
[AUTO_PRESS] count=681 env0 dist=0.4992 force=0.0000
|
| 204 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 205 |
-
[AUTO_PRESS] count=721 env0 dist=0.4989 force=0.0000
|
| 206 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 207 |
-
[AUTO_PRESS] count=761 env0 dist=0.4989 force=0.0000
|
| 208 |
-
|
| 209 |
-
============================================================
|
| 210 |
-
[RESULT] pressed : True
|
| 211 |
-
[RESULT] min_distance : 0.0427 m
|
| 212 |
-
[RESULT] final_dist : 0.5025 m
|
| 213 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_10.hdf5
|
| 214 |
-
============================================================
|
| 215 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 216 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030506.log
|
| 217 |
-
2026-04-23T03:05:06Z [293ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 218 |
-
2026-04-23T03:05:06Z [293ms] [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)
|
| 219 |
-
2026-04-23T03:05:06Z [305ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 220 |
-
|
| 221 |
-
|---------------------------------------------------------------------------------------------|
|
| 222 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 223 |
-
|=============================================================================================|
|
| 224 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 225 |
-
| | | | | | Device-ID | UUID |
|
| 226 |
-
| | | | | | Bus-ID | |
|
| 227 |
-
|---------------------------------------------------------------------------------------------|
|
| 228 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 229 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 230 |
-
| | | | | | 4 | |
|
| 231 |
-
|=============================================================================================|
|
| 232 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 233 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 234 |
-
| Cores: 30 | Logical Cores: 30
|
| 235 |
-
|---------------------------------------------------------------------------------------------|
|
| 236 |
-
| Total Memory (MB): 90484 | Free Memory: 87004
|
| 237 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 238 |
-
|---------------------------------------------------------------------------------------------|
|
| 239 |
-
2026-04-23T03:05:07Z [808ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 240 |
-
2026-04-23T03:05:07Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T03:05:07Z [1,199ms] [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)
|
| 242 |
-
2026-04-23T03:05:07Z [1,212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T03:05:07Z [1,212ms] [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)
|
| 244 |
-
2026-04-23T03:05:07Z [1,217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 245 |
-
2026-04-23T03:05:07Z [1,217ms] [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)
|
| 246 |
-
2026-04-23T03:05:07Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T03:05:07Z [1,222ms] [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)
|
| 248 |
-
2026-04-23T03:05:07Z [1,223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 249 |
-
2026-04-23T03:05:07Z [1,223ms] [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)
|
| 250 |
-
2026-04-23T03:05:07Z [1,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 251 |
-
2026-04-23T03:05:07Z [1,224ms] [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)
|
| 252 |
-
2026-04-23T03:05:07Z [1,356ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 253 |
-
2026-04-23T03:05:07Z [1,567ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 254 |
-
2026-04-23T03:05:07Z [1,573ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 255 |
-
2026-04-23T03:05:09Z [3,152ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 256 |
-
2026-04-23T03:05:09Z [3,258ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 257 |
-
2026-04-23T03:05:09Z [3,258ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 258 |
-
2026-04-23T03:05:09Z [3,259ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 259 |
-
2026-04-23T03:05:13Z [6,763ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 260 |
-
|
| 261 |
-
2026-04-23T03:05:15Z [9,392ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 262 |
-
2026-04-23T03:05:15Z [9,392ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 263 |
-
2026-04-23T03:05:18Z [12,056ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 264 |
-
2026-04-23T03:08:50Z [223,833ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 267 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 270 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 273 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 274 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 275 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 276 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 277 |
-
2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 278 |
-
2026-04-23T03:08:50Z [223,836ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 279 |
-
2026-04-23T03:08:50Z [223,910ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 280 |
-
2026-04-23T03:08:50Z [223,970ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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v02/demo_11.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:9dfcc6b6c12827b147c7b58e8047d99a0274791729b1c7de6e9ca91db5e39966
|
| 3 |
-
size 2631741744
|
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|
v02/demo_11.log
DELETED
|
@@ -1,278 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_11.hdf5
|
| 8 |
-
Setting seed: 11
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 11
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.031822 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.415575 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 9
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.457
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.457
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.6839, 0.8376, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.0614, 0.8455, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6225, -0.008, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.008, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6575, -0.008, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.57, 0.245, 2.415, -2.661, 1.001, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4952 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4952 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.22630000114440918, 0.7290999889373779, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.148m tip_dist=0.466m q=[ 0.090 -1.469 2.659 -1.101 1.621 0.005]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4637 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.112m tip_dist=0.435m q=[ 0.191 -1.362 2.640 -1.110 1.617 0.013]
|
| 153 |
-
approach step= 60/100 pre_dist=0.075m tip_dist=0.403m q=[ 0.294 -1.232 2.612 -1.122 1.590 0.022]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.4052 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.037m tip_dist=0.371m q=[ 0.389 -1.082 2.570 -1.139 1.543 0.032]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0133m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3453 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3189m force=0.000N stall=0 q=[ 0.472 -0.808 2.474 -1.173 1.408 0.050]
|
| 162 |
-
press step= 40 dist=0.2823m force=0.000N stall=0 q=[ 0.491 -0.610 2.395 -1.198 1.312 0.061]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.2699 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2454m force=0.000N stall=0 q=[ 0.495 -0.410 2.301 -1.224 1.233 0.073]
|
| 166 |
-
press step= 80 dist=0.2085m force=0.000N stall=0 q=[ 0.486 -0.215 2.192 -1.253 1.172 0.085]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1947 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1716m force=0.000N stall=0 q=[ 0.467 -0.028 2.071 -1.283 1.129 0.096]
|
| 170 |
-
press step= 120 dist=0.1347m force=0.000N stall=0 q=[ 0.444 0.150 1.939 -1.315 1.102 0.108]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.1204 force=0.0000
|
| 173 |
-
press step= 140 dist=0.0980m force=0.000N stall=0 q=[ 0.418 0.320 1.793 -1.347 1.088 0.120]
|
| 174 |
-
press step= 160 dist=0.0617m force=0.000N stall=0 q=[ 0.391 0.484 1.634 -1.378 1.086 0.133]
|
| 175 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 176 |
-
[AUTO_PRESS] count=321 env0 dist=0.0495 force=0.0000
|
| 177 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=60.757N dist=0.0466
|
| 178 |
-
[PRESSED] force-contact at step 171 force=60.757N dist=0.0426m
|
| 179 |
-
[PHASE] hold
|
| 180 |
-
[PHASE] retract: up to 600 steps
|
| 181 |
-
[retract-1] button → pre-press
|
| 182 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 183 |
-
[AUTO_PRESS] count=361 env0 dist=0.0570 force=0.0000
|
| 184 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 185 |
-
[AUTO_PRESS] count=401 env0 dist=0.1277 force=0.0000
|
| 186 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.2021 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.117 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.2767 force=0.0000
|
| 190 |
-
pre-press reached at step 159 dist=0.0140m
|
| 191 |
-
[retract-2] pre-press → home
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.350 panels=2
|
| 193 |
-
[AUTO_PRESS] count=521 env0 dist=0.3479 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=2 progress=0.583 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.4087 force=0.0000
|
| 196 |
-
[AUTO_PRESS] door state=2 progress=0.817 panels=2
|
| 197 |
-
[AUTO_PRESS] count=601 env0 dist=0.4724 force=0.0000
|
| 198 |
-
home reached at step 98 dist=0.0136m
|
| 199 |
-
[PHASE] home_idle: 150 steps
|
| 200 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 201 |
-
[AUTO_PRESS] count=641 env0 dist=0.4956 force=0.0000
|
| 202 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 203 |
-
[AUTO_PRESS] count=681 env0 dist=0.4952 force=0.0000
|
| 204 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 205 |
-
[AUTO_PRESS] count=721 env0 dist=0.4952 force=0.0000
|
| 206 |
-
|
| 207 |
-
============================================================
|
| 208 |
-
[RESULT] pressed : True
|
| 209 |
-
[RESULT] min_distance : 0.0426 m
|
| 210 |
-
[RESULT] final_dist : 0.4985 m
|
| 211 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_11.hdf5
|
| 212 |
-
============================================================
|
| 213 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 214 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030850.log
|
| 215 |
-
2026-04-23T03:08:51Z [294ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 216 |
-
2026-04-23T03:08:51Z [294ms] [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)
|
| 217 |
-
2026-04-23T03:08:51Z [306ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 218 |
-
|
| 219 |
-
|---------------------------------------------------------------------------------------------|
|
| 220 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 221 |
-
|=============================================================================================|
|
| 222 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 223 |
-
| | | | | | Device-ID | UUID |
|
| 224 |
-
| | | | | | Bus-ID | |
|
| 225 |
-
|---------------------------------------------------------------------------------------------|
|
| 226 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 227 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 228 |
-
| | | | | | 4 | |
|
| 229 |
-
|=============================================================================================|
|
| 230 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 231 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 232 |
-
| Cores: 30 | Logical Cores: 30
|
| 233 |
-
|---------------------------------------------------------------------------------------------|
|
| 234 |
-
| Total Memory (MB): 90484 | Free Memory: 87066
|
| 235 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 236 |
-
|---------------------------------------------------------------------------------------------|
|
| 237 |
-
2026-04-23T03:08:51Z [815ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 238 |
-
2026-04-23T03:08:52Z [1,206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 239 |
-
2026-04-23T03:08:52Z [1,206ms] [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)
|
| 240 |
-
2026-04-23T03:08:52Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T03:08:52Z [1,219ms] [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)
|
| 242 |
-
2026-04-23T03:08:52Z [1,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T03:08:52Z [1,224ms] [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)
|
| 244 |
-
2026-04-23T03:08:52Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 245 |
-
2026-04-23T03:08:52Z [1,229ms] [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)
|
| 246 |
-
2026-04-23T03:08:52Z [1,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T03:08:52Z [1,230ms] [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)
|
| 248 |
-
2026-04-23T03:08:52Z [1,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 249 |
-
2026-04-23T03:08:52Z [1,230ms] [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)
|
| 250 |
-
2026-04-23T03:08:52Z [1,362ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 251 |
-
2026-04-23T03:08:52Z [1,574ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 252 |
-
2026-04-23T03:08:52Z [1,580ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 253 |
-
2026-04-23T03:08:54Z [3,157ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 254 |
-
2026-04-23T03:08:54Z [3,272ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 255 |
-
2026-04-23T03:08:54Z [3,272ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
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2026-04-23T03:08:54Z [3,273ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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2026-04-23T03:08:57Z [6,936ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
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2026-04-23T03:09:00Z [9,522ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
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2026-04-23T03:09:00Z [9,522ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
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2026-04-23T03:09:03Z [12,213ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
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2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:12:52Z [241,829ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
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|
v02/demo_12.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:c66ff797c36515c1a2309fbe77e0901dab20bb3c2899221cfd722bfff6ba12f7
|
| 3 |
-
size 2595606087
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_12.log
DELETED
|
@@ -1,276 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_12.hdf5
|
| 8 |
-
Setting seed: 12
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 12
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.325746 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.497562 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 13
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.266 dir=-1.0 travel=0.531
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.266 dir=1.0 travel=0.531
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.8442, 0.973, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [0.2408, 1.0215, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6034, -0.0485, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.0485, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6384, -0.0485, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.349, 0.265, 2.384, -2.649, 1.222, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4717 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4717 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.4056999981403351, 0.9050999879837036, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.127m tip_dist=0.439m q=[ 0.088 -1.450 2.656 -1.102 1.594 0.006]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.4375 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.091m tip_dist=0.406m q=[ 0.184 -1.324 2.632 -1.113 1.563 0.015]
|
| 153 |
-
approach step= 60/100 pre_dist=0.054m tip_dist=0.371m q=[ 0.277 -1.176 2.598 -1.128 1.510 0.026]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3729 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.017m tip_dist=0.337m q=[ 0.359 -1.009 2.549 -1.146 1.440 0.037]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 81 dist_to_pre=0.0148m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
press step= 20 dist=0.3034m force=0.000N stall=0 q=[ 0.399 -0.830 2.488 -1.166 1.344 0.048]
|
| 160 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 161 |
-
[AUTO_PRESS] count=161 env0 dist=0.3048 force=0.0000
|
| 162 |
-
press step= 40 dist=0.2668m force=0.000N stall=0 q=[ 0.423 -0.628 2.409 -1.190 1.251 0.060]
|
| 163 |
-
press step= 60 dist=0.2299m force=0.000N stall=0 q=[ 0.431 -0.423 2.316 -1.215 1.175 0.072]
|
| 164 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 165 |
-
[AUTO_PRESS] count=201 env0 dist=0.2299 force=0.0000
|
| 166 |
-
press step= 80 dist=0.1931m force=0.000N stall=0 q=[ 0.424 -0.223 2.206 -1.242 1.118 0.085]
|
| 167 |
-
press step= 100 dist=0.1562m force=0.000N stall=0 q=[ 0.407 -0.032 2.085 -1.272 1.081 0.096]
|
| 168 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 169 |
-
[AUTO_PRESS] count=241 env0 dist=0.1554 force=0.0000
|
| 170 |
-
press step= 120 dist=0.1193m force=0.000N stall=0 q=[ 0.385 0.147 1.951 -1.303 1.058 0.108]
|
| 171 |
-
press step= 140 dist=0.0827m force=0.000N stall=0 q=[ 0.360 0.318 1.805 -1.335 1.049 0.121]
|
| 172 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 173 |
-
[AUTO_PRESS] count=281 env0 dist=0.0823 force=0.0000
|
| 174 |
-
press step= 160 dist=0.0464m force=0.000N stall=0 q=[ 0.334 0.482 1.646 -1.366 1.051 0.134]
|
| 175 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=64.567N dist=0.0451
|
| 176 |
-
[PRESSED] force-contact at step 163 force=64.567N dist=0.0422m
|
| 177 |
-
[PHASE] hold
|
| 178 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 179 |
-
[AUTO_PRESS] count=321 env0 dist=0.0452 force=0.9271
|
| 180 |
-
[PHASE] retract: up to 600 steps
|
| 181 |
-
[retract-1] button → pre-press
|
| 182 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 183 |
-
[AUTO_PRESS] count=361 env0 dist=0.0916 force=0.0000
|
| 184 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 185 |
-
[AUTO_PRESS] count=401 env0 dist=0.1636 force=0.0000
|
| 186 |
-
[AUTO_PRESS] door state=2 progress=0.198 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.2371 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.432 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.3118 force=0.0000
|
| 190 |
-
pre-press reached at step 149 dist=0.0145m
|
| 191 |
-
[retract-2] pre-press → home
|
| 192 |
-
[AUTO_PRESS] door state=2 progress=0.665 panels=2
|
| 193 |
-
[AUTO_PRESS] count=521 env0 dist=0.3788 force=0.0000
|
| 194 |
-
[AUTO_PRESS] door state=2 progress=0.898 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.4477 force=0.0000
|
| 196 |
-
home reached at step 87 dist=0.0149m
|
| 197 |
-
[PHASE] home_idle: 150 steps
|
| 198 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 199 |
-
[AUTO_PRESS] count=601 env0 dist=0.4726 force=0.0000
|
| 200 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 201 |
-
[AUTO_PRESS] count=641 env0 dist=0.4716 force=0.0000
|
| 202 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 203 |
-
[AUTO_PRESS] count=681 env0 dist=0.4717 force=0.0000
|
| 204 |
-
|
| 205 |
-
============================================================
|
| 206 |
-
[RESULT] pressed : True
|
| 207 |
-
[RESULT] min_distance : 0.0422 m
|
| 208 |
-
[RESULT] final_dist : 0.4736 m
|
| 209 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_12.hdf5
|
| 210 |
-
============================================================
|
| 211 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 212 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031253.log
|
| 213 |
-
2026-04-23T03:12:53Z [293ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 214 |
-
2026-04-23T03:12:53Z [293ms] [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)
|
| 215 |
-
2026-04-23T03:12:53Z [305ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 216 |
-
|
| 217 |
-
|---------------------------------------------------------------------------------------------|
|
| 218 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 219 |
-
|=============================================================================================|
|
| 220 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 221 |
-
| | | | | | Device-ID | UUID |
|
| 222 |
-
| | | | | | Bus-ID | |
|
| 223 |
-
|---------------------------------------------------------------------------------------------|
|
| 224 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 225 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 226 |
-
| | | | | | 4 | |
|
| 227 |
-
|=============================================================================================|
|
| 228 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 229 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 230 |
-
| Cores: 30 | Logical Cores: 30
|
| 231 |
-
|---------------------------------------------------------------------------------------------|
|
| 232 |
-
| Total Memory (MB): 90484 | Free Memory: 87072
|
| 233 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 234 |
-
|---------------------------------------------------------------------------------------------|
|
| 235 |
-
2026-04-23T03:12:54Z [813ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 236 |
-
2026-04-23T03:12:54Z [1,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 237 |
-
2026-04-23T03:12:54Z [1,196ms] [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)
|
| 238 |
-
2026-04-23T03:12:54Z [1,209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 239 |
-
2026-04-23T03:12:54Z [1,209ms] [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)
|
| 240 |
-
2026-04-23T03:12:54Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T03:12:54Z [1,214ms] [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)
|
| 242 |
-
2026-04-23T03:12:54Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T03:12:54Z [1,219ms] [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)
|
| 244 |
-
2026-04-23T03:12:54Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 245 |
-
2026-04-23T03:12:54Z [1,220ms] [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)
|
| 246 |
-
2026-04-23T03:12:54Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 247 |
-
2026-04-23T03:12:54Z [1,221ms] [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)
|
| 248 |
-
2026-04-23T03:12:54Z [1,353ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 249 |
-
2026-04-23T03:12:55Z [1,561ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 250 |
-
2026-04-23T03:12:55Z [1,567ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 251 |
-
2026-04-23T03:12:56Z [3,178ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 252 |
-
2026-04-23T03:12:56Z [3,281ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 253 |
-
2026-04-23T03:12:56Z [3,281ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 254 |
-
2026-04-23T03:12:56Z [3,281ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 255 |
-
2026-04-23T03:13:00Z [6,859ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 256 |
-
|
| 257 |
-
2026-04-23T03:13:03Z [9,794ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 258 |
-
2026-04-23T03:13:03Z [9,794ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 259 |
-
2026-04-23T03:13:06Z [12,846ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 260 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 261 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 262 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 263 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 264 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 270 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 271 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 272 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 273 |
-
2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 274 |
-
2026-04-23T03:16:52Z [238,464ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 275 |
-
2026-04-23T03:16:52Z [238,537ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 276 |
-
2026-04-23T03:16:52Z [238,556ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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v02/demo_13.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:539925e3d323b989f837e77e6915eed5f8764ce7c1f568d6eba4e50b3372dc26
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size 2540242343
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v02/demo_13.log
DELETED
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@@ -1,283 +0,0 @@
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cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
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pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
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[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_13.hdf5
|
| 8 |
-
Setting seed: 13
|
| 9 |
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[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 13
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.349752 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
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Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.480888 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
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+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
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+--------+-------+-------+
|
| 31 |
-
|
| 32 |
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[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
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+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
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| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
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| 2 | reset_robot_at_hall_side |
|
| 49 |
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+--------+-----------------------------+
|
| 50 |
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+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
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+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 12
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.457
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.457
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.5021, -0.7599, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [-0.1445, -0.8071, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.6466, 0.0473, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, 0.0473, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.6816, 0.0473, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.827, 0.264, 2.386, -2.649, 0.744, -0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.5299 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.5299 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.020400000736117363, -0.9236000180244446, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.186m tip_dist=0.505m q=[ 0.088 -1.492 2.662 -1.099 1.646 0.004]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.5014 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.150m tip_dist=0.476m q=[ 0.193 -1.406 2.648 -1.106 1.671 0.010]
|
| 153 |
-
approach step= 60/100 pre_dist=0.113m tip_dist=0.446m q=[ 0.301 -1.294 2.625 -1.116 1.671 0.018]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.4491 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.076m tip_dist=0.417m q=[ 0.408 -1.162 2.591 -1.131 1.649 0.027]
|
| 157 |
-
approach step=100/100 pre_dist=0.038m tip_dist=0.390m q=[ 0.505 -1.013 2.543 -1.151 1.609 0.037]
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.3977 force=0.0000
|
| 161 |
-
press step= 20 dist=0.3567m force=0.000N stall=0 q=[ 0.536 -0.844 2.481 -1.173 1.510 0.048]
|
| 162 |
-
press step= 40 dist=0.3199m force=0.000N stall=0 q=[ 0.556 -0.655 2.405 -1.198 1.410 0.059]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.3246 force=0.0000
|
| 165 |
-
press step= 60 dist=0.2829m force=0.000N stall=0 q=[ 0.563 -0.462 2.316 -1.225 1.324 0.070]
|
| 166 |
-
press step= 80 dist=0.2460m force=0.000N stall=0 q=[ 0.558 -0.271 2.213 -1.253 1.255 0.081]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.2488 force=0.0000
|
| 169 |
-
press step= 100 dist=0.2090m force=0.000N stall=0 q=[ 0.543 -0.087 2.098 -1.284 1.203 0.092]
|
| 170 |
-
press step= 120 dist=0.1720m force=0.000N stall=0 q=[ 0.522 0.091 1.971 -1.315 1.166 0.103]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.1735 force=0.0000
|
| 173 |
-
press step= 140 dist=0.1352m force=0.000N stall=0 q=[ 0.498 0.260 1.832 -1.348 1.143 0.115]
|
| 174 |
-
press step= 160 dist=0.0987m force=0.000N stall=0 q=[ 0.473 0.426 1.679 -1.379 1.131 0.127]
|
| 175 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 176 |
-
[AUTO_PRESS] count=321 env0 dist=0.0999 force=0.0000
|
| 177 |
-
press step= 180 dist=0.0627m force=0.000N stall=0 q=[ 0.446 0.588 1.509 -1.409 1.131 0.140]
|
| 178 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=85.541N dist=0.0473
|
| 179 |
-
[PRESSED] force-contact at step 192 force=85.541N dist=0.0430m
|
| 180 |
-
[PHASE] hold
|
| 181 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 182 |
-
[AUTO_PRESS] count=361 env0 dist=0.0476 force=0.1031
|
| 183 |
-
[PHASE] retract: up to 600 steps
|
| 184 |
-
[retract-1] button → pre-press
|
| 185 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 186 |
-
[AUTO_PRESS] count=401 env0 dist=0.0773 force=0.0000
|
| 187 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 188 |
-
[AUTO_PRESS] count=441 env0 dist=0.1505 force=0.0000
|
| 189 |
-
[AUTO_PRESS] door state=2 progress=0.157 panels=2
|
| 190 |
-
[AUTO_PRESS] count=481 env0 dist=0.2253 force=0.0000
|
| 191 |
-
[AUTO_PRESS] door state=2 progress=0.391 panels=2
|
| 192 |
-
[AUTO_PRESS] count=521 env0 dist=0.3005 force=0.0000
|
| 193 |
-
pre-press reached at step 171 dist=0.0138m
|
| 194 |
-
[retract-2] pre-press → home
|
| 195 |
-
[AUTO_PRESS] door state=2 progress=0.624 panels=2
|
| 196 |
-
[AUTO_PRESS] count=561 env0 dist=0.3709 force=0.0000
|
| 197 |
-
[AUTO_PRESS] door state=2 progress=0.858 panels=2
|
| 198 |
-
[AUTO_PRESS] count=601 env0 dist=0.4227 force=0.0000
|
| 199 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 200 |
-
[AUTO_PRESS] count=641 env0 dist=0.4790 force=0.0000
|
| 201 |
-
home reached at step 117 dist=0.0135m
|
| 202 |
-
[PHASE] home_idle: 150 steps
|
| 203 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 204 |
-
[AUTO_PRESS] count=681 env0 dist=0.5366 force=0.0000
|
| 205 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 206 |
-
[AUTO_PRESS] count=721 env0 dist=0.5293 force=0.0000
|
| 207 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 208 |
-
[AUTO_PRESS] count=761 env0 dist=0.5299 force=0.0000
|
| 209 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 210 |
-
[AUTO_PRESS] count=801 env0 dist=0.5299 force=0.0000
|
| 211 |
-
|
| 212 |
-
============================================================
|
| 213 |
-
[RESULT] pressed : True
|
| 214 |
-
[RESULT] min_distance : 0.0430 m
|
| 215 |
-
[RESULT] final_dist : 0.5350 m
|
| 216 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_13.hdf5
|
| 217 |
-
============================================================
|
| 218 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 219 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031652.log
|
| 220 |
-
2026-04-23T03:16:53Z [296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 221 |
-
2026-04-23T03:16:53Z [296ms] [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)
|
| 222 |
-
2026-04-23T03:16:53Z [307ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 223 |
-
|
| 224 |
-
|---------------------------------------------------------------------------------------------|
|
| 225 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 226 |
-
|=============================================================================================|
|
| 227 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 228 |
-
| | | | | | Device-ID | UUID |
|
| 229 |
-
| | | | | | Bus-ID | |
|
| 230 |
-
|---------------------------------------------------------------------------------------------|
|
| 231 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 232 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 233 |
-
| | | | | | 4 | |
|
| 234 |
-
|=============================================================================================|
|
| 235 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 236 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 237 |
-
| Cores: 30 | Logical Cores: 30
|
| 238 |
-
|---------------------------------------------------------------------------------------------|
|
| 239 |
-
| Total Memory (MB): 90484 | Free Memory: 87085
|
| 240 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 241 |
-
|---------------------------------------------------------------------------------------------|
|
| 242 |
-
2026-04-23T03:16:53Z [807ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 243 |
-
2026-04-23T03:16:53Z [1,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 244 |
-
2026-04-23T03:16:53Z [1,195ms] [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)
|
| 245 |
-
2026-04-23T03:16:53Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 246 |
-
2026-04-23T03:16:53Z [1,208ms] [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)
|
| 247 |
-
2026-04-23T03:16:53Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 248 |
-
2026-04-23T03:16:53Z [1,214ms] [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)
|
| 249 |
-
2026-04-23T03:16:53Z [1,218ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 250 |
-
2026-04-23T03:16:53Z [1,218ms] [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)
|
| 251 |
-
2026-04-23T03:16:53Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 252 |
-
2026-04-23T03:16:53Z [1,219ms] [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)
|
| 253 |
-
2026-04-23T03:16:53Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 254 |
-
2026-04-23T03:16:53Z [1,220ms] [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)
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2026-04-23T03:16:54Z [1,352ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 256 |
-
2026-04-23T03:16:54Z [1,556ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 257 |
-
2026-04-23T03:16:54Z [1,561ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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| 258 |
-
2026-04-23T03:16:56Z [3,386ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
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| 259 |
-
2026-04-23T03:16:56Z [3,495ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
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| 260 |
-
2026-04-23T03:16:56Z [3,495ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
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| 261 |
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2026-04-23T03:16:56Z [3,495ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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| 262 |
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2026-04-23T03:17:00Z [7,774ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
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-
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| 264 |
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2026-04-23T03:17:03Z [10,781ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
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| 265 |
-
2026-04-23T03:17:03Z [10,781ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
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| 266 |
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2026-04-23T03:17:06Z [13,449ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
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| 267 |
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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| 268 |
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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| 272 |
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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| 277 |
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2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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| 278 |
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2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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| 279 |
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2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 281 |
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2026-04-23T03:21:01Z [248,873ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 282 |
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2026-04-23T03:21:01Z [248,952ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
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| 283 |
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2026-04-23T03:21:01Z [248,967ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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|
v02/demo_14.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:f17cde91b064c31eb2e57bae5a0114a91af9ac116b497a83fdd3ae48f2c4735c
|
| 3 |
-
size 1719554948
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_14.log
DELETED
|
@@ -1,272 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 3 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 4 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 5 |
-
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
|
| 6 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 7 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_14.hdf5
|
| 8 |
-
Setting seed: 14
|
| 9 |
-
[INFO]: Base environment:
|
| 10 |
-
Environment device : cuda:0
|
| 11 |
-
Environment seed : 14
|
| 12 |
-
Physics step-size : 0.016666666666666666
|
| 13 |
-
Rendering step-size : 0.016666666666666666
|
| 14 |
-
Environment step-size : 0.016666666666666666
|
| 15 |
-
[INFO]: Time taken for scene creation : 1.299115 seconds
|
| 16 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 17 |
-
Number of environments: 1
|
| 18 |
-
Environment spacing : 3.0
|
| 19 |
-
Source prim name : /World/envs/env_0
|
| 20 |
-
Global prim paths : ['/World/GroundPlane']
|
| 21 |
-
Replicate physics : True
|
| 22 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 23 |
-
[INFO]: Time taken for simulation start : 1.483767 seconds
|
| 24 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 25 |
-
+------------------------+
|
| 26 |
-
| Active Command Terms |
|
| 27 |
-
+--------+-------+-------+
|
| 28 |
-
| Index | Name | Type |
|
| 29 |
-
+--------+-------+-------+
|
| 30 |
-
+--------+-------+-------+
|
| 31 |
-
|
| 32 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 33 |
-
+----------------------------------------+
|
| 34 |
-
| Active Event Terms in Mode: 'startup' |
|
| 35 |
-
+---------+------------------------------+
|
| 36 |
-
| Index | Name |
|
| 37 |
-
+---------+------------------------------+
|
| 38 |
-
| 0 | robot_physics_material |
|
| 39 |
-
| 1 | init_elevator |
|
| 40 |
-
+---------+------------------------------+
|
| 41 |
-
+--------------------------------------+
|
| 42 |
-
| Active Event Terms in Mode: 'reset' |
|
| 43 |
-
+--------+-----------------------------+
|
| 44 |
-
| Index | Name |
|
| 45 |
-
+--------+-----------------------------+
|
| 46 |
-
| 0 | reset_all |
|
| 47 |
-
| 1 | randomize_elevator_pose |
|
| 48 |
-
| 2 | reset_robot_at_hall_side |
|
| 49 |
-
+--------+-----------------------------+
|
| 50 |
-
+-----------------------------------------------------+
|
| 51 |
-
| Active Event Terms in Mode: 'interval' |
|
| 52 |
-
+-------+-------------------+-------------------------+
|
| 53 |
-
| Index | Name | Interval time range (s) |
|
| 54 |
-
+-------+-------------------+-------------------------+
|
| 55 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 56 |
-
+-------+-------------------+-------------------------+
|
| 57 |
-
|
| 58 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 59 |
-
+--------------------------------------------------+
|
| 60 |
-
| Active Recorder Terms |
|
| 61 |
-
+-------+------------------------------------------+
|
| 62 |
-
| Index | Name |
|
| 63 |
-
+-------+------------------------------------------+
|
| 64 |
-
| 0 | record_initial_state |
|
| 65 |
-
| 1 | record_post_step_states |
|
| 66 |
-
| 2 | record_pre_step_actions |
|
| 67 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 68 |
-
| 4 | record_post_step_processed_actions |
|
| 69 |
-
+-------+------------------------------------------+
|
| 70 |
-
|
| 71 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 72 |
-
+------------------------------------+
|
| 73 |
-
| Active Action Terms (shape: 7) |
|
| 74 |
-
+-------+----------------+-----------+
|
| 75 |
-
| Index | Name | Dimension |
|
| 76 |
-
+-------+----------------+-----------+
|
| 77 |
-
| 0 | arm_action | 6 |
|
| 78 |
-
| 1 | gripper_action | 1 |
|
| 79 |
-
+-------+----------------+-----------+
|
| 80 |
-
|
| 81 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 82 |
-
+-------------------------------------------------------+
|
| 83 |
-
| Active Observation Terms in Group: 'policy' |
|
| 84 |
-
+-------+-----------------------------+-----------------+
|
| 85 |
-
| Index | Name | Shape |
|
| 86 |
-
+-------+-----------------------------+-----------------+
|
| 87 |
-
| 0 | joint_pos | (10,) |
|
| 88 |
-
| 1 | joint_vel | (10,) |
|
| 89 |
-
| 2 | eef_pos | (3,) |
|
| 90 |
-
| 3 | eef_quat | (4,) |
|
| 91 |
-
| 4 | call_button_pos | (3,) |
|
| 92 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 93 |
-
| 6 | actions | (7,) |
|
| 94 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 95 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 96 |
-
| 9 | call_button_lit | (1,) |
|
| 97 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 98 |
-
+-------+-----------------------------+-----------------+
|
| 99 |
-
|
| 100 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 101 |
-
+-----------------------------+
|
| 102 |
-
| Active Termination Terms |
|
| 103 |
-
+-------+----------+----------+
|
| 104 |
-
| Index | Name | Time Out |
|
| 105 |
-
+-------+----------+----------+
|
| 106 |
-
| 0 | time_out | True |
|
| 107 |
-
| 1 | success | False |
|
| 108 |
-
+-------+----------+----------+
|
| 109 |
-
|
| 110 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 111 |
-
+----------------------------------+
|
| 112 |
-
| Active Reward Terms |
|
| 113 |
-
+-------+----------------+---------+
|
| 114 |
-
| Index | Name | Weight |
|
| 115 |
-
+-------+----------------+---------+
|
| 116 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 117 |
-
+-------+----------------+---------+
|
| 118 |
-
|
| 119 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 120 |
-
+----------------------+
|
| 121 |
-
| Active Curriculum Terms |
|
| 122 |
-
+-----------+----------+
|
| 123 |
-
| Index | Name |
|
| 124 |
-
+-----------+----------+
|
| 125 |
-
+-----------+----------+
|
| 126 |
-
|
| 127 |
-
[INIT_ELEV] creating Elevator instance...
|
| 128 |
-
[INIT_ELEV] done. btn_infos[0] len = 16
|
| 129 |
-
[INIT_ELEV] door panels[0] = 2
|
| 130 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.222 dir=-1.0 travel=0.444
|
| 131 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.222 dir=1.0 travel=0.444
|
| 132 |
-
[INFO]: Completed setting up the environment...
|
| 133 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 134 |
-
[SETUP] button_w = [0.4418, -0.7422, 1.13]
|
| 135 |
-
[SETUP] robot_w pos = [-0.109, -0.7232, 0.908] yaw=0.000
|
| 136 |
-
[SETUP] button_base = [0.5508, -0.019, 0.222]
|
| 137 |
-
[SETUP] pre_press_b = [0.3, -0.019, 0.332]
|
| 138 |
-
[SETUP] press_b = [0.5858, -0.019, 0.332]
|
| 139 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 140 |
-
[SETUP] goal_pre_q = [0.511, 0.248, 2.411, -2.659, 1.059, 0.0] ik_err=0.0000m
|
| 141 |
-
[PHASE] gripper close
|
| 142 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 143 |
-
[AUTO_PRESS] count=1 env0 dist=0.4276 force=0.0000
|
| 144 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 145 |
-
[AUTO_PRESS] count=41 env0 dist=0.4276 force=0.0000
|
| 146 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 147 |
-
[SETUP] home_tip_w = [0.05590000003576279, -0.8396000266075134, 1.2956000566482544]
|
| 148 |
-
[PHASE] approach: up to 100 steps
|
| 149 |
-
approach step= 20/100 pre_dist=0.141m tip_dist=0.397m q=[ 0.090 -1.464 2.658 -1.101 1.614 0.005]
|
| 150 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 151 |
-
[AUTO_PRESS] count=81 env0 dist=0.3948 force=0.0000
|
| 152 |
-
approach step= 40/100 pre_dist=0.106m tip_dist=0.365m q=[ 0.190 -1.352 2.638 -1.110 1.604 0.013]
|
| 153 |
-
approach step= 60/100 pre_dist=0.068m tip_dist=0.332m q=[ 0.290 -1.217 2.608 -1.124 1.570 0.023]
|
| 154 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 155 |
-
[AUTO_PRESS] count=121 env0 dist=0.3341 force=0.0000
|
| 156 |
-
approach step= 80/100 pre_dist=0.031m tip_dist=0.299m q=[ 0.383 -1.063 2.565 -1.141 1.517 0.033]
|
| 157 |
-
[APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0144m
|
| 158 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 159 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 160 |
-
[AUTO_PRESS] count=161 env0 dist=0.2717 force=0.0000
|
| 161 |
-
press step= 20 dist=0.2531m force=0.000N stall=0 q=[ 0.450 -0.824 2.487 -1.168 1.397 0.048]
|
| 162 |
-
press step= 40 dist=0.2164m force=0.000N stall=0 q=[ 0.472 -0.628 2.415 -1.190 1.302 0.060]
|
| 163 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 164 |
-
[AUTO_PRESS] count=201 env0 dist=0.1957 force=0.0000
|
| 165 |
-
press step= 60 dist=0.1794m force=0.000N stall=0 q=[ 0.479 -0.426 2.327 -1.214 1.223 0.072]
|
| 166 |
-
press step= 80 dist=0.1425m force=0.000N stall=0 q=[ 0.472 -0.228 2.224 -1.241 1.163 0.083]
|
| 167 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 168 |
-
[AUTO_PRESS] count=241 env0 dist=0.1211 force=0.0000
|
| 169 |
-
press step= 100 dist=0.1055m force=0.000N stall=0 q=[ 0.455 -0.038 2.107 -1.270 1.120 0.095]
|
| 170 |
-
press step= 120 dist=0.0685m force=0.000N stall=0 q=[ 0.432 0.143 1.978 -1.301 1.093 0.107]
|
| 171 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 172 |
-
[AUTO_PRESS] count=281 env0 dist=0.0489 force=0.0000
|
| 173 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=76.241N dist=0.0464
|
| 174 |
-
[PRESSED] force-contact at step 135 force=76.241N dist=0.0422m
|
| 175 |
-
[PHASE] hold
|
| 176 |
-
[PHASE] retract: up to 600 steps
|
| 177 |
-
[retract-1] button → pre-press
|
| 178 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 179 |
-
[AUTO_PRESS] count=321 env0 dist=0.0569 force=0.0000
|
| 180 |
-
[AUTO_PRESS] door state=2 progress=0.169 panels=2
|
| 181 |
-
[AUTO_PRESS] count=361 env0 dist=0.1291 force=0.0000
|
| 182 |
-
[AUTO_PRESS] door state=2 progress=0.403 panels=2
|
| 183 |
-
[AUTO_PRESS] count=401 env0 dist=0.2038 force=0.0000
|
| 184 |
-
pre-press reached at step 122 dist=0.0135m
|
| 185 |
-
[retract-2] pre-press → home
|
| 186 |
-
[AUTO_PRESS] door state=2 progress=0.636 panels=2
|
| 187 |
-
[AUTO_PRESS] count=441 env0 dist=0.2768 force=0.0000
|
| 188 |
-
[AUTO_PRESS] door state=2 progress=0.869 panels=2
|
| 189 |
-
[AUTO_PRESS] count=481 env0 dist=0.3393 force=0.0000
|
| 190 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 191 |
-
[AUTO_PRESS] count=521 env0 dist=0.4049 force=0.0000
|
| 192 |
-
home reached at step 94 dist=0.0146m
|
| 193 |
-
[PHASE] home_idle: 150 steps
|
| 194 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 195 |
-
[AUTO_PRESS] count=561 env0 dist=0.4285 force=0.0000
|
| 196 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 197 |
-
[AUTO_PRESS] count=601 env0 dist=0.4275 force=0.0000
|
| 198 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 199 |
-
[AUTO_PRESS] count=641 env0 dist=0.4276 force=0.0000
|
| 200 |
-
|
| 201 |
-
============================================================
|
| 202 |
-
[RESULT] pressed : True
|
| 203 |
-
[RESULT] min_distance : 0.0422 m
|
| 204 |
-
[RESULT] final_dist : 0.4311 m
|
| 205 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_14.hdf5
|
| 206 |
-
============================================================
|
| 207 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 208 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_032102.log
|
| 209 |
-
2026-04-23T03:21:02Z [295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 210 |
-
2026-04-23T03:21:02Z [295ms] [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)
|
| 211 |
-
2026-04-23T03:21:02Z [309ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 212 |
-
|
| 213 |
-
|---------------------------------------------------------------------------------------------|
|
| 214 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 215 |
-
|=============================================================================================|
|
| 216 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 217 |
-
| | | | | | Device-ID | UUID |
|
| 218 |
-
| | | | | | Bus-ID | |
|
| 219 |
-
|---------------------------------------------------------------------------------------------|
|
| 220 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 221 |
-
| | | | | | 2bb5 | 71edab28.. |
|
| 222 |
-
| | | | | | 4 | |
|
| 223 |
-
|=============================================================================================|
|
| 224 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 225 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 226 |
-
| Cores: 30 | Logical Cores: 30
|
| 227 |
-
|---------------------------------------------------------------------------------------------|
|
| 228 |
-
| Total Memory (MB): 90484 | Free Memory: 87105
|
| 229 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 230 |
-
|---------------------------------------------------------------------------------------------|
|
| 231 |
-
2026-04-23T03:21:03Z [823ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 232 |
-
2026-04-23T03:21:03Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 233 |
-
2026-04-23T03:21:03Z [1,222ms] [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)
|
| 234 |
-
2026-04-23T03:21:03Z [1,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 235 |
-
2026-04-23T03:21:03Z [1,235ms] [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)
|
| 236 |
-
2026-04-23T03:21:03Z [1,240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 237 |
-
2026-04-23T03:21:03Z [1,240ms] [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)
|
| 238 |
-
2026-04-23T03:21:03Z [1,245ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 239 |
-
2026-04-23T03:21:03Z [1,245ms] [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)
|
| 240 |
-
2026-04-23T03:21:03Z [1,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 241 |
-
2026-04-23T03:21:03Z [1,246ms] [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)
|
| 242 |
-
2026-04-23T03:21:03Z [1,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 243 |
-
2026-04-23T03:21:03Z [1,246ms] [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)
|
| 244 |
-
2026-04-23T03:21:03Z [1,379ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 245 |
-
2026-04-23T03:21:04Z [1,589ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 246 |
-
2026-04-23T03:21:04Z [1,594ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 247 |
-
2026-04-23T03:21:05Z [3,211ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 248 |
-
2026-04-23T03:21:05Z [3,314ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 249 |
-
2026-04-23T03:21:05Z [3,314ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 250 |
-
2026-04-23T03:21:05Z [3,315ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 251 |
-
2026-04-23T03:21:09Z [6,890ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 252 |
-
|
| 253 |
-
2026-04-23T03:21:12Z [9,824ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 254 |
-
2026-04-23T03:21:12Z [9,824ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 255 |
-
2026-04-23T03:21:14Z [12,552ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 256 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 257 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 258 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 259 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 260 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 261 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 262 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 263 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 264 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 265 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 266 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 267 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 268 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 269 |
-
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 270 |
-
2026-04-23T03:24:03Z [181,331ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 271 |
-
2026-04-23T03:24:03Z [181,406ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 272 |
-
2026-04-23T03:24:03Z [181,508ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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v02/demo_15.hdf5
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| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:220517fe9d88330f2412945cd7069147efe076a6bd3791e10392f5d9179136b7
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| 3 |
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size 2166581069
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v02/demo_15.log
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| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_15.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-33-34.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:33:34 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023318.log
|
| 15 |
-
2026-04-23T02:33:18Z [344ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:33:18Z [344ms] [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)
|
| 17 |
-
2026-04-23T02:33:18Z [358ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80127
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:33:18Z [808ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:33:19Z [1,108ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:33:19Z [1,108ms] [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)
|
| 40 |
-
2026-04-23T02:33:19Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:33:19Z [1,122ms] [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)
|
| 42 |
-
2026-04-23T02:33:19Z [1,127ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:33:19Z [1,127ms] [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)
|
| 44 |
-
2026-04-23T02:33:19Z [1,132ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:33:19Z [1,132ms] [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)
|
| 46 |
-
2026-04-23T02:33:19Z [1,133ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:33:19Z [1,133ms] [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)
|
| 48 |
-
2026-04-23T02:33:19Z [1,133ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:33:19Z [1,133ms] [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)
|
| 50 |
-
2026-04-23T02:33:19Z [1,335ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:33:19Z [1,650ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:33:19Z [1,657ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:33:27Z [8,824ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:33:27Z [9,062ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:33:27Z [9,062ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:33:27Z [9,063ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:33:27Z [9,467ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8013 instead
|
| 61 |
-
2026-04-23T02:33:29Z [10,848ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:33:29Z [10,849ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:33:29Z [10,849ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:33:29Z [10,936ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:33:35Z [17,673ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
-
2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 69 |
-
2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 70 |
-
2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 71 |
-
2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 72 |
-
2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 73 |
-
2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 74 |
-
2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 75 |
-
2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 15
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.038175 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.715344 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 8
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.297 dir=-1.0 travel=0.593
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.297 dir=1.0 travel=0.593
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.9593, 1.0567, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.3732, 1.0791, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5862, -0.0225, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0225, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.6212, -0.0225, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.493, 0.249, 2.409, -2.658, 1.078, 0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4592 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4592 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.538100004196167, 0.9627000093460083, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.146m tip_dist=0.435m q=[ 0.075 -1.479 2.656 -1.102 1.612 0.005]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4327 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.109m tip_dist=0.401m q=[ 0.176 -1.369 2.642 -1.109 1.606 0.012]
|
| 223 |
-
approach step= 60/100 pre_dist=0.071m tip_dist=0.368m q=[ 0.276 -1.236 2.615 -1.121 1.574 0.022]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3703 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.034m tip_dist=0.335m q=[ 0.371 -1.083 2.573 -1.138 1.521 0.032]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 91 dist_to_pre=0.0136m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3117 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2903m force=0.000N stall=0 q=[ 0.444 -0.849 2.497 -1.166 1.402 0.047]
|
| 232 |
-
press step= 40 dist=0.2538m force=0.000N stall=0 q=[ 0.470 -0.652 2.424 -1.189 1.304 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2373 force=0.0000
|
| 235 |
-
press step= 60 dist=0.2169m force=0.000N stall=0 q=[ 0.480 -0.450 2.335 -1.214 1.219 0.071]
|
| 236 |
-
press step= 80 dist=0.1799m force=0.000N stall=0 q=[ 0.475 -0.249 2.231 -1.241 1.153 0.083]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1620 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1427m force=0.000N stall=0 q=[ 0.458 -0.056 2.113 -1.271 1.106 0.095]
|
| 240 |
-
press step= 120 dist=0.1056m force=0.000N stall=0 q=[ 0.435 0.127 1.982 -1.302 1.076 0.107]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0880 force=0.0000
|
| 243 |
-
press step= 140 dist=0.0688m force=0.000N stall=0 q=[ 0.409 0.300 1.838 -1.334 1.060 0.119]
|
| 244 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=2.406N dist=0.0460
|
| 245 |
-
[PRESSED] force-contact at step 155 force=2.406N dist=0.0416m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0461 force=2.9845
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.0828 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1548 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.146 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2278 force=0.0000
|
| 257 |
-
pre-press reached at step 145 dist=0.0136m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.379 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.3018 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.613 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3642 force=0.0000
|
| 263 |
-
[AUTO_PRESS] door state=2 progress=0.846 panels=2
|
| 264 |
-
[AUTO_PRESS] count=561 env0 dist=0.4287 force=0.0000
|
| 265 |
-
home reached at step 93 dist=0.0142m
|
| 266 |
-
[PHASE] home_idle: 150 steps
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4592 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4592 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4592 force=0.0000
|
| 273 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 274 |
-
[AUTO_PRESS] count=721 env0 dist=0.4592 force=0.0000
|
| 275 |
-
|
| 276 |
-
============================================================
|
| 277 |
-
[RESULT] pressed : True
|
| 278 |
-
[RESULT] min_distance : 0.0416 m
|
| 279 |
-
[RESULT] final_dist : 0.4623 m
|
| 280 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_15.hdf5
|
| 281 |
-
============================================================
|
| 282 |
-
2026-04-23T02:33:35Z [17,706ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 283 |
-
2026-04-23T02:33:35Z [17,706ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 284 |
-
2026-04-23T02:33:38Z [20,451ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 285 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 286 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 288 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 297 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 298 |
-
2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 299 |
-
2026-04-23T02:36:53Z [214,927ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 300 |
-
2026-04-23T02:36:53Z [214,928ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 301 |
-
2026-04-23T02:36:53Z [214,999ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 302 |
-
2026-04-23T02:36:53Z [215,077ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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|
v02/demo_16.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:49b1525d33218d7ab627bf428060b9f3b29d0c172126b78a7672167fb10f2f64
|
| 3 |
-
size 1909877927
|
|
|
|
|
|
|
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|
|
v02/demo_16.log
DELETED
|
@@ -1,300 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_16.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-37-08.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:37:08 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023653.log
|
| 15 |
-
2026-04-23T02:36:54Z [348ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:36:54Z [348ms] [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)
|
| 17 |
-
2026-04-23T02:36:54Z [360ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80153
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:36:54Z [794ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:36:54Z [1,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:36:54Z [1,096ms] [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)
|
| 40 |
-
2026-04-23T02:36:54Z [1,110ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:36:54Z [1,110ms] [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)
|
| 42 |
-
2026-04-23T02:36:54Z [1,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:36:54Z [1,115ms] [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)
|
| 44 |
-
2026-04-23T02:36:55Z [1,119ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:36:55Z [1,119ms] [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)
|
| 46 |
-
2026-04-23T02:36:55Z [1,120ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:36:55Z [1,120ms] [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)
|
| 48 |
-
2026-04-23T02:36:55Z [1,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:36:55Z [1,121ms] [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)
|
| 50 |
-
2026-04-23T02:36:55Z [1,322ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:36:55Z [1,641ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:36:55Z [1,648ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:37:02Z [8,815ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:37:02Z [9,068ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:37:02Z [9,068ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:37:02Z [9,068ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:37:03Z [9,463ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8083 instead
|
| 61 |
-
2026-04-23T02:37:04Z [10,854ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:37:04Z [10,855ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:37:04Z [10,855ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:37:04Z [10,943ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:37:10Z [16,282ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 70 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 71 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 72 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 73 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 74 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 75 |
-
2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 16
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.283331 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.560176 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 11
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.214 dir=-1.0 travel=0.428
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.214 dir=1.0 travel=0.428
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.6427, 0.8257, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.0881, 0.8396, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5546, -0.0139, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0139, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.5896, -0.0139, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.539, 0.247, 2.413, -2.66, 1.032, 0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4320 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4320 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.2529999911785126, 0.7232000231742859, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.151m tip_dist=0.409m q=[ 0.076 -1.482 2.657 -1.102 1.616 0.004]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4056 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.114m tip_dist=0.375m q=[ 0.176 -1.376 2.643 -1.108 1.616 0.012]
|
| 223 |
-
approach step= 60/100 pre_dist=0.076m tip_dist=0.342m q=[ 0.279 -1.248 2.617 -1.120 1.590 0.021]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3440 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.039m tip_dist=0.310m q=[ 0.375 -1.098 2.577 -1.137 1.541 0.031]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0146m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.2867 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2616m force=0.000N stall=0 q=[ 0.457 -0.852 2.499 -1.165 1.420 0.047]
|
| 232 |
-
press step= 40 dist=0.2250m force=0.000N stall=0 q=[ 0.483 -0.658 2.430 -1.187 1.322 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2126 force=0.0000
|
| 235 |
-
press step= 60 dist=0.1881m force=0.000N stall=0 q=[ 0.493 -0.457 2.345 -1.211 1.236 0.070]
|
| 236 |
-
press step= 80 dist=0.1510m force=0.000N stall=0 q=[ 0.489 -0.257 2.244 -1.238 1.169 0.082]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1374 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1138m force=0.000N stall=0 q=[ 0.473 -0.063 2.129 -1.267 1.120 0.094]
|
| 240 |
-
press step= 120 dist=0.0767m force=0.000N stall=0 q=[ 0.450 0.121 2.001 -1.298 1.087 0.106]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0639 force=0.0000
|
| 243 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=196.720N dist=0.0457
|
| 244 |
-
press step= 140 dist=0.0410m force=196.720N stall=0 q=[ 0.424 0.291 1.863 -1.328 1.064 0.107]
|
| 245 |
-
[PRESSED] force-contact at step 140 force=196.720N dist=0.0410m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0456 force=9.7023
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.1058 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1785 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.222 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2526 force=0.0000
|
| 257 |
-
pre-press reached at step 129 dist=0.0135m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.455 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.3173 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.688 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3802 force=0.0000
|
| 263 |
-
home reached at step 96 dist=0.0141m
|
| 264 |
-
[PHASE] home_idle: 150 steps
|
| 265 |
-
[AUTO_PRESS] door state=2 progress=0.922 panels=2
|
| 266 |
-
[AUTO_PRESS] count=561 env0 dist=0.4317 force=0.0000
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4320 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4320 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4320 force=0.0000
|
| 273 |
-
|
| 274 |
-
============================================================
|
| 275 |
-
[RESULT] pressed : True
|
| 276 |
-
[RESULT] min_distance : 0.0410 m
|
| 277 |
-
[RESULT] final_dist : 0.4356 m
|
| 278 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_16.hdf5
|
| 279 |
-
============================================================
|
| 280 |
-
2026-04-23T02:37:10Z [16,314ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 281 |
-
2026-04-23T02:37:10Z [16,314ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 282 |
-
2026-04-23T02:37:12Z [18,901ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 283 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 284 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 285 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 286 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 288 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 297 |
-
2026-04-23T02:40:11Z [197,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 298 |
-
2026-04-23T02:40:11Z [197,914ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 299 |
-
2026-04-23T02:40:11Z [197,985ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 300 |
-
2026-04-23T02:40:11Z [198,070ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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|
v02/demo_17.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:817cfb7660f2eb63fc4c16aec13d1983d4dd547729abd4a11fb7012e6d3233be
|
| 3 |
-
size 2034023093
|
|
|
|
|
|
|
|
|
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|
v02/demo_17.log
DELETED
|
@@ -1,302 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_17.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-40-27.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:40:27 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024012.log
|
| 15 |
-
2026-04-23T02:40:12Z [351ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:40:12Z [351ms] [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)
|
| 17 |
-
2026-04-23T02:40:12Z [367ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80151
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:40:13Z [865ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:40:13Z [1,250ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:40:13Z [1,250ms] [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)
|
| 40 |
-
2026-04-23T02:40:13Z [1,264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:40:13Z [1,265ms] [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)
|
| 42 |
-
2026-04-23T02:40:13Z [1,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:40:13Z [1,270ms] [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)
|
| 44 |
-
2026-04-23T02:40:13Z [1,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:40:13Z [1,276ms] [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)
|
| 46 |
-
2026-04-23T02:40:13Z [1,277ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:40:13Z [1,277ms] [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)
|
| 48 |
-
2026-04-23T02:40:13Z [1,278ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:40:13Z [1,278ms] [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)
|
| 50 |
-
2026-04-23T02:40:14Z [1,537ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:40:14Z [1,956ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:40:14Z [1,966ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:40:21Z [9,310ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:40:22Z [9,563ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:40:22Z [9,563ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:40:22Z [9,564ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:40:22Z [9,985ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8062 instead
|
| 61 |
-
2026-04-23T02:40:24Z [11,614ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:40:24Z [11,616ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:40:24Z [11,616ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:40:24Z [11,700ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:40:28Z [16,411ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 70 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 71 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 72 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 73 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 74 |
-
2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 75 |
-
2026-04-23T02:40:28Z [16,416ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 17
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 0.995929 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.510066 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 14
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.285 dir=-1.0 travel=0.571
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.285 dir=1.0 travel=0.571
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.8796, -1.0073, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.3228, -1.036, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5568, 0.0287, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, 0.0287, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.5918, 0.0287, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.748, 0.252, 2.405, -2.657, 0.823, 0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4441 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4441 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.4878000020980835, -1.152500033378601, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.179m tip_dist=0.424m q=[ 0.075 -1.498 2.659 -1.100 1.635 0.003]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4194 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.142m tip_dist=0.392m q=[ 0.177 -1.410 2.650 -1.105 1.658 0.009]
|
| 223 |
-
approach step= 60/100 pre_dist=0.104m tip_dist=0.361m q=[ 0.285 -1.298 2.628 -1.115 1.656 0.017]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3626 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.067m tip_dist=0.330m q=[ 0.390 -1.163 2.594 -1.130 1.629 0.027]
|
| 227 |
-
approach step=100/100 pre_dist=0.029m tip_dist=0.301m q=[ 0.487 -1.009 2.545 -1.150 1.582 0.037]
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3085 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2723m force=0.000N stall=0 q=[ 0.514 -0.868 2.501 -1.166 1.499 0.046]
|
| 232 |
-
press step= 40 dist=0.2356m force=0.000N stall=0 q=[ 0.539 -0.681 2.434 -1.188 1.400 0.057]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2399 force=0.0000
|
| 235 |
-
press step= 60 dist=0.1987m force=0.000N stall=0 q=[ 0.551 -0.486 2.352 -1.212 1.310 0.069]
|
| 236 |
-
press step= 80 dist=0.1616m force=0.000N stall=0 q=[ 0.549 -0.291 2.256 -1.239 1.237 0.080]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1642 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1243m force=0.000N stall=0 q=[ 0.536 -0.100 2.146 -1.268 1.181 0.091]
|
| 240 |
-
press step= 120 dist=0.0871m force=0.000N stall=0 q=[ 0.516 0.083 2.023 -1.299 1.142 0.103]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0895 force=0.0000
|
| 243 |
-
press step= 140 dist=0.0502m force=0.000N stall=0 q=[ 0.491 0.257 1.886 -1.332 1.116 0.114]
|
| 244 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=34.750N dist=0.0469
|
| 245 |
-
[PRESSED] force-contact at step 145 force=34.750N dist=0.0411m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0471 force=11.8489
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=2 progress=0.227 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.0848 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=2 progress=0.461 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1578 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.694 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2321 force=0.0000
|
| 257 |
-
pre-press reached at step 129 dist=0.0140m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.928 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.2990 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3543 force=0.0000
|
| 263 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 264 |
-
[AUTO_PRESS] count=561 env0 dist=0.4138 force=0.0000
|
| 265 |
-
home reached at step 111 dist=0.0139m
|
| 266 |
-
[PHASE] home_idle: 150 steps
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4441 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4441 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4441 force=0.0000
|
| 273 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 274 |
-
[AUTO_PRESS] count=721 env0 dist=0.4441 force=0.0000
|
| 275 |
-
|
| 276 |
-
============================================================
|
| 277 |
-
[RESULT] pressed : True
|
| 278 |
-
[RESULT] min_distance : 0.0411 m
|
| 279 |
-
[RESULT] final_dist : 0.4495 m
|
| 280 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_17.hdf5
|
| 281 |
-
============================================================
|
| 282 |
-
2026-04-23T02:40:29Z [16,445ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 283 |
-
2026-04-23T02:40:29Z [16,445ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 284 |
-
2026-04-23T02:40:31Z [19,002ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 285 |
-
2026-04-23T02:43:53Z [221,415ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 286 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 288 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 297 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 298 |
-
2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 299 |
-
2026-04-23T02:43:53Z [221,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 300 |
-
2026-04-23T02:43:53Z [221,419ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 301 |
-
2026-04-23T02:43:54Z [221,490ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 302 |
-
2026-04-23T02:43:54Z [221,597ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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v02/demo_18.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:3c9bb31c3400a297778ec2878d3de33caf01b21829ab0f3da5c542ff506b9e06
|
| 3 |
-
size 2714621346
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_18.log
DELETED
|
@@ -1,302 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_18.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-44-09.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:44:09 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024354.log
|
| 15 |
-
2026-04-23T02:43:55Z [473ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:43:55Z [473ms] [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)
|
| 17 |
-
2026-04-23T02:43:55Z [486ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 79984
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:43:55Z [980ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:43:56Z [1,372ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:43:56Z [1,372ms] [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)
|
| 40 |
-
2026-04-23T02:43:56Z [1,386ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:43:56Z [1,386ms] [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)
|
| 42 |
-
2026-04-23T02:43:56Z [1,392ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:43:56Z [1,392ms] [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)
|
| 44 |
-
2026-04-23T02:43:56Z [1,397ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:43:56Z [1,397ms] [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)
|
| 46 |
-
2026-04-23T02:43:56Z [1,398ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:43:56Z [1,399ms] [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)
|
| 48 |
-
2026-04-23T02:43:56Z [1,399ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:43:56Z [1,399ms] [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)
|
| 50 |
-
2026-04-23T02:43:56Z [1,659ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:43:56Z [2,073ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:43:56Z [2,082ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:44:04Z [9,417ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:44:04Z [9,657ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:44:04Z [9,657ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:44:04Z [9,658ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:44:04Z [10,068ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8021 instead
|
| 61 |
-
2026-04-23T02:44:06Z [11,446ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:44:06Z [11,446ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:44:06Z [11,447ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:44:06Z [11,534ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:44:11Z [16,605ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 68 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 70 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 71 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 72 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 73 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 74 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 75 |
-
2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 18
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.313518 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.571340 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 8
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.266 dir=-1.0 travel=0.532
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.266 dir=1.0 travel=0.532
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.8138, 0.9465, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.2456, 0.9113, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5682, 0.0352, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, 0.0352, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.6032, 0.0352, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.777, 0.256, 2.399, -2.655, 0.794, 0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4561 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4561 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.4106000065803528, 0.7949000000953674, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.183m tip_dist=0.436m q=[ 0.075 -1.500 2.660 -1.100 1.637 0.003]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4316 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.146m tip_dist=0.404m q=[ 0.177 -1.415 2.650 -1.105 1.663 0.009]
|
| 223 |
-
approach step= 60/100 pre_dist=0.109m tip_dist=0.374m q=[ 0.285 -1.304 2.630 -1.114 1.664 0.017]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3757 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.072m tip_dist=0.344m q=[ 0.392 -1.172 2.596 -1.129 1.640 0.026]
|
| 227 |
-
approach step=100/100 pre_dist=0.034m tip_dist=0.315m q=[ 0.490 -1.020 2.548 -1.149 1.596 0.037]
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3225 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2860m force=0.000N stall=0 q=[ 0.518 -0.879 2.503 -1.165 1.513 0.045]
|
| 232 |
-
press step= 40 dist=0.2494m force=0.000N stall=0 q=[ 0.544 -0.692 2.436 -1.187 1.413 0.057]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2539 force=0.0000
|
| 235 |
-
press step= 60 dist=0.2125m force=0.000N stall=0 q=[ 0.557 -0.498 2.354 -1.212 1.322 0.068]
|
| 236 |
-
press step= 80 dist=0.1754m force=0.000N stall=0 q=[ 0.556 -0.303 2.258 -1.239 1.248 0.079]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1782 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1382m force=0.000N stall=0 q=[ 0.544 -0.113 2.149 -1.268 1.191 0.091]
|
| 240 |
-
press step= 120 dist=0.1010m force=0.000N stall=0 q=[ 0.524 0.070 2.026 -1.300 1.150 0.102]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.1031 force=0.0000
|
| 243 |
-
press step= 140 dist=0.0640m force=0.000N stall=0 q=[ 0.500 0.244 1.890 -1.332 1.123 0.113]
|
| 244 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=118.426N dist=0.0464
|
| 245 |
-
[PRESSED] force-contact at step 153 force=118.426N dist=0.0407m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0466 force=12.6883
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.0699 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1425 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2166 force=0.0000
|
| 257 |
-
pre-press reached at step 135 dist=0.0141m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.006 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.2909 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.239 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3441 force=0.0000
|
| 263 |
-
[AUTO_PRESS] door state=2 progress=0.473 panels=2
|
| 264 |
-
[AUTO_PRESS] count=561 env0 dist=0.4015 force=0.0000
|
| 265 |
-
home reached at step 113 dist=0.0146m
|
| 266 |
-
[PHASE] home_idle: 150 steps
|
| 267 |
-
[AUTO_PRESS] door state=2 progress=0.706 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4555 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=2 progress=0.939 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4561 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4561 force=0.0000
|
| 273 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 274 |
-
[AUTO_PRESS] count=721 env0 dist=0.4561 force=0.0000
|
| 275 |
-
|
| 276 |
-
============================================================
|
| 277 |
-
[RESULT] pressed : True
|
| 278 |
-
[RESULT] min_distance : 0.0407 m
|
| 279 |
-
[RESULT] final_dist : 0.4616 m
|
| 280 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_18.hdf5
|
| 281 |
-
============================================================
|
| 282 |
-
2026-04-23T02:44:11Z [16,638ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 283 |
-
2026-04-23T02:44:11Z [16,639ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 284 |
-
2026-04-23T02:44:13Z [19,196ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 285 |
-
2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 286 |
-
2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 288 |
-
2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 297 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 298 |
-
2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 299 |
-
2026-04-23T02:48:07Z [252,526ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 300 |
-
2026-04-23T02:48:07Z [252,527ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 301 |
-
2026-04-23T02:48:07Z [252,597ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 302 |
-
2026-04-23T02:48:07Z [252,626ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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|
v02/demo_19.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:b5f21e1fa3c345c731eded045b302c658feee443b1b7627ddf5b63806adf84fa
|
| 3 |
-
size 2287880620
|
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|
v02/demo_19.log
DELETED
|
@@ -1,300 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_19.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-48-22.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:48:22 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024808.log
|
| 15 |
-
2026-04-23T02:48:08Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:48:08Z [347ms] [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)
|
| 17 |
-
2026-04-23T02:48:08Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80162
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:48:08Z [791ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:48:09Z [1,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:48:09Z [1,099ms] [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)
|
| 40 |
-
2026-04-23T02:48:09Z [1,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:48:09Z [1,112ms] [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)
|
| 42 |
-
2026-04-23T02:48:09Z [1,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:48:09Z [1,117ms] [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)
|
| 44 |
-
2026-04-23T02:48:09Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:48:09Z [1,122ms] [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)
|
| 46 |
-
2026-04-23T02:48:09Z [1,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:48:09Z [1,123ms] [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)
|
| 48 |
-
2026-04-23T02:48:09Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:48:09Z [1,124ms] [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)
|
| 50 |
-
2026-04-23T02:48:09Z [1,326ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:48:09Z [1,647ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:48:09Z [1,654ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:48:16Z [8,800ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:48:17Z [9,022ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:48:17Z [9,022ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:48:17Z [9,026ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:48:17Z [9,422ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8078 instead
|
| 61 |
-
2026-04-23T02:48:19Z [11,054ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:48:19Z [11,054ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:48:19Z [11,055ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:48:19Z [11,140ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:48:23Z [15,865ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 68 |
-
2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 70 |
-
2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 71 |
-
2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 72 |
-
2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 73 |
-
2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 74 |
-
2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 75 |
-
2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 19
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.015770 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.508720 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 7
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.237 dir=-1.0 travel=0.473
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.237 dir=1.0 travel=0.473
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.4409, 0.7423, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [-0.1229, 0.7591, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5638, -0.0169, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0169, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.5988, -0.0169, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.523, 0.247, 2.412, -2.659, 1.048, -0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4398 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4398 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.042100001126527786, 0.6427000164985657, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.149m tip_dist=0.416m q=[ 0.076 -1.481 2.656 -1.102 1.615 0.005]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4134 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.112m tip_dist=0.383m q=[ 0.176 -1.374 2.643 -1.108 1.613 0.012]
|
| 223 |
-
approach step= 60/100 pre_dist=0.075m tip_dist=0.349m q=[ 0.278 -1.244 2.617 -1.120 1.585 0.021]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3515 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.037m tip_dist=0.317m q=[ 0.374 -1.093 2.576 -1.137 1.534 0.031]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 92 dist_to_pre=0.0148m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.2937 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2704m force=0.000N stall=0 q=[ 0.451 -0.854 2.500 -1.165 1.415 0.047]
|
| 232 |
-
press step= 40 dist=0.2338m force=0.000N stall=0 q=[ 0.478 -0.659 2.429 -1.187 1.316 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2194 force=0.0000
|
| 235 |
-
press step= 60 dist=0.1970m force=0.000N stall=0 q=[ 0.488 -0.458 2.343 -1.211 1.231 0.070]
|
| 236 |
-
press step= 80 dist=0.1599m force=0.000N stall=0 q=[ 0.484 -0.257 2.242 -1.238 1.164 0.082]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1442 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1227m force=0.000N stall=0 q=[ 0.468 -0.063 2.126 -1.267 1.115 0.094]
|
| 240 |
-
press step= 120 dist=0.0856m force=0.000N stall=0 q=[ 0.445 0.121 1.997 -1.299 1.084 0.106]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0705 force=0.0000
|
| 243 |
-
press step= 140 dist=0.0487m force=0.000N stall=0 q=[ 0.419 0.294 1.854 -1.331 1.066 0.118]
|
| 244 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=4.508N dist=0.0463
|
| 245 |
-
[PRESSED] force-contact at step 144 force=4.508N dist=0.0414m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0463 force=4.2647
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.1010 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=2 progress=0.012 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1735 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.245 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2471 force=0.0000
|
| 257 |
-
pre-press reached at step 133 dist=0.0143m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.478 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.3144 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.712 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3772 force=0.0000
|
| 263 |
-
home reached at step 95 dist=0.0147m
|
| 264 |
-
[PHASE] home_idle: 150 steps
|
| 265 |
-
[AUTO_PRESS] door state=2 progress=0.945 panels=2
|
| 266 |
-
[AUTO_PRESS] count=561 env0 dist=0.4387 force=0.0000
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4398 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4398 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4398 force=0.0000
|
| 273 |
-
|
| 274 |
-
============================================================
|
| 275 |
-
[RESULT] pressed : True
|
| 276 |
-
[RESULT] min_distance : 0.0414 m
|
| 277 |
-
[RESULT] final_dist : 0.4432 m
|
| 278 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_19.hdf5
|
| 279 |
-
============================================================
|
| 280 |
-
2026-04-23T02:48:23Z [15,899ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 281 |
-
2026-04-23T02:48:23Z [15,899ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 282 |
-
2026-04-23T02:48:26Z [18,439ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 283 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 284 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 285 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 286 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 288 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 297 |
-
2026-04-23T02:51:55Z [227,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 298 |
-
2026-04-23T02:51:55Z [227,901ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 299 |
-
2026-04-23T02:51:56Z [227,971ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 300 |
-
2026-04-23T02:51:56Z [227,991ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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|
v02/demo_20.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:f68796f7a9cf69ab1c2b6a410fe1119c4839207b9329775387e36c2b8d6e44ec
|
| 3 |
-
size 2221553957
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_20.log
DELETED
|
@@ -1,304 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_20.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-52-10.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:52:11 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025156.log
|
| 15 |
-
2026-04-23T02:51:56Z [350ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:51:56Z [350ms] [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)
|
| 17 |
-
2026-04-23T02:51:56Z [364ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80169
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:51:57Z [863ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:51:57Z [1,245ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:51:57Z [1,245ms] [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)
|
| 40 |
-
2026-04-23T02:51:57Z [1,259ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:51:57Z [1,259ms] [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)
|
| 42 |
-
2026-04-23T02:51:57Z [1,265ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:51:57Z [1,265ms] [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)
|
| 44 |
-
2026-04-23T02:51:57Z [1,271ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:51:57Z [1,271ms] [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)
|
| 46 |
-
2026-04-23T02:51:57Z [1,272ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:51:57Z [1,272ms] [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)
|
| 48 |
-
2026-04-23T02:51:57Z [1,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:51:57Z [1,273ms] [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)
|
| 50 |
-
2026-04-23T02:51:58Z [1,531ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:51:58Z [1,947ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:51:58Z [1,956ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:52:05Z [9,296ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:52:06Z [9,555ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:52:06Z [9,555ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:52:06Z [9,558ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:52:06Z [10,076ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8055 instead
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| 61 |
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2026-04-23T02:52:08Z [11,371ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
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| 62 |
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2026-04-23T02:52:08Z [11,371ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
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| 63 |
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2026-04-23T02:52:08Z [11,371ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
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2026-04-23T02:52:08Z [11,462ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
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2026-04-23T02:52:13Z [16,448ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
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2026-04-23T02:52:13Z [16,452ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
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2026-04-23T02:52:13Z [16,452ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T02:52:13Z [16,452ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 70 |
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2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
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| 71 |
-
2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 72 |
-
2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 73 |
-
2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 74 |
-
2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 75 |
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2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 20
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.288927 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
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[INFO]: Time taken for simulation start : 1.551785 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 7
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.204 dir=-1.0 travel=0.408
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.204 dir=1.0 travel=0.408
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [1.1365, -0.6706, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.5049, -0.6242, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.6316, -0.0464, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0464, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.6666, -0.0464, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.361, 0.263, 2.387, -2.65, 1.21, -0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4983 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4983 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.6697999835014343, -0.7405999898910522, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.134m tip_dist=0.472m q=[ 0.074 -1.468 2.654 -1.103 1.598 0.005]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4707 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.097m tip_dist=0.438m q=[ 0.171 -1.347 2.637 -1.111 1.575 0.014]
|
| 223 |
-
approach step= 60/100 pre_dist=0.060m tip_dist=0.403m q=[ 0.267 -1.204 2.607 -1.124 1.527 0.024]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.4050 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.022m tip_dist=0.369m q=[ 0.353 -1.040 2.561 -1.143 1.458 0.035]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0150m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3426 force=0.0000
|
| 231 |
-
press step= 20 dist=0.3351m force=0.000N stall=0 q=[ 0.400 -0.860 2.500 -1.164 1.362 0.047]
|
| 232 |
-
press step= 40 dist=0.2986m force=0.000N stall=0 q=[ 0.430 -0.659 2.424 -1.187 1.263 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2678 force=0.0000
|
| 235 |
-
press step= 60 dist=0.2619m force=0.000N stall=0 q=[ 0.442 -0.453 2.331 -1.213 1.180 0.071]
|
| 236 |
-
press step= 80 dist=0.2249m force=0.000N stall=0 q=[ 0.437 -0.250 2.223 -1.241 1.117 0.084]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1927 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1878m force=0.000N stall=0 q=[ 0.421 -0.056 2.101 -1.270 1.074 0.096]
|
| 240 |
-
press step= 120 dist=0.1507m force=0.000N stall=0 q=[ 0.398 0.126 1.967 -1.302 1.048 0.108]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.1187 force=0.0000
|
| 243 |
-
press step= 140 dist=0.1140m force=0.000N stall=0 q=[ 0.372 0.299 1.821 -1.334 1.036 0.120]
|
| 244 |
-
press step= 160 dist=0.0778m force=0.000N stall=0 q=[ 0.345 0.464 1.661 -1.366 1.037 0.133]
|
| 245 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 246 |
-
[AUTO_PRESS] count=321 env0 dist=0.0488 force=0.0000
|
| 247 |
-
press step= 180 dist=0.0424m force=0.000N stall=0 q=[ 0.318 0.624 1.485 -1.396 1.051 0.147]
|
| 248 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=186.639N dist=0.0449
|
| 249 |
-
[PRESSED] force-contact at step 181 force=186.639N dist=0.0419m
|
| 250 |
-
[PHASE] hold
|
| 251 |
-
[PHASE] retract: up to 600 steps
|
| 252 |
-
[retract-1] button → pre-press
|
| 253 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 254 |
-
[AUTO_PRESS] count=361 env0 dist=0.0501 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.163 panels=2
|
| 256 |
-
[AUTO_PRESS] count=401 env0 dist=0.1182 force=0.0000
|
| 257 |
-
[AUTO_PRESS] door state=2 progress=0.397 panels=2
|
| 258 |
-
[AUTO_PRESS] count=441 env0 dist=0.1908 force=0.0000
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.630 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.2635 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.863 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3369 force=0.0000
|
| 263 |
-
pre-press reached at step 169 dist=0.0142m
|
| 264 |
-
[retract-2] pre-press → home
|
| 265 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 266 |
-
[AUTO_PRESS] count=561 env0 dist=0.4036 force=0.0000
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4783 force=0.0000
|
| 269 |
-
home reached at step 86 dist=0.0139m
|
| 270 |
-
[PHASE] home_idle: 150 steps
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=641 env0 dist=0.4983 force=0.0000
|
| 273 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 274 |
-
[AUTO_PRESS] count=681 env0 dist=0.4983 force=0.0000
|
| 275 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 276 |
-
[AUTO_PRESS] count=721 env0 dist=0.4983 force=0.0000
|
| 277 |
-
|
| 278 |
-
============================================================
|
| 279 |
-
[RESULT] pressed : True
|
| 280 |
-
[RESULT] min_distance : 0.0419 m
|
| 281 |
-
[RESULT] final_dist : 0.5001 m
|
| 282 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_20.hdf5
|
| 283 |
-
============================================================
|
| 284 |
-
2026-04-23T02:52:13Z [16,482ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 285 |
-
2026-04-23T02:52:13Z [16,483ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 286 |
-
2026-04-23T02:52:15Z [18,979ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 287 |
-
2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 288 |
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 290 |
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 297 |
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 298 |
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 299 |
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2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 300 |
-
2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 301 |
-
2026-04-23T02:55:40Z [223,403ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 302 |
-
2026-04-23T02:55:40Z [223,404ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 303 |
-
2026-04-23T02:55:40Z [223,475ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 304 |
-
2026-04-23T02:55:40Z [223,571ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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v02/demo_21.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:e37c7e54b32332c945174f54c697c2883ce24fddd9f511cd863575d2fa0769d1
|
| 3 |
-
size 1969445526
|
|
|
|
|
|
|
|
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|
|
v02/demo_21.log
DELETED
|
@@ -1,299 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_21.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-55-55.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:55:55 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025540.log
|
| 15 |
-
2026-04-23T02:55:41Z [346ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:55:41Z [346ms] [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)
|
| 17 |
-
2026-04-23T02:55:41Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80140
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:55:41Z [793ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:55:41Z [1,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:55:41Z [1,097ms] [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)
|
| 40 |
-
2026-04-23T02:55:41Z [1,110ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:55:41Z [1,110ms] [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)
|
| 42 |
-
2026-04-23T02:55:41Z [1,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:55:41Z [1,116ms] [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)
|
| 44 |
-
2026-04-23T02:55:41Z [1,120ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:55:41Z [1,120ms] [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)
|
| 46 |
-
2026-04-23T02:55:41Z [1,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:55:41Z [1,121ms] [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)
|
| 48 |
-
2026-04-23T02:55:41Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:55:41Z [1,122ms] [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)
|
| 50 |
-
2026-04-23T02:55:42Z [1,325ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:55:42Z [1,644ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:55:42Z [1,652ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:55:49Z [8,806ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:55:49Z [9,062ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:55:49Z [9,062ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:55:49Z [9,062ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:55:50Z [9,455ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8030 instead
|
| 61 |
-
2026-04-23T02:55:51Z [11,132ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:55:51Z [11,133ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:55:51Z [11,133ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:55:52Z [11,234ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:55:57Z [16,682ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
-
2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 69 |
-
2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 70 |
-
2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 71 |
-
2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 72 |
-
2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 73 |
-
2026-04-23T02:55:57Z [16,687ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 74 |
-
2026-04-23T02:55:57Z [16,687ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 75 |
-
2026-04-23T02:55:57Z [16,687ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 21
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.305232 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.736927 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 7
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.204 dir=-1.0 travel=0.408
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.204 dir=1.0 travel=0.408
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [1.1365, -0.6706, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.5843, -0.6412, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5522, -0.0294, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0294, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.5872, -0.0294, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.455, 0.252, 2.404, -2.656, 1.116, -0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4271 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4271 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.7493000030517578, -0.7576000094413757, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.142m tip_dist=0.403m q=[ 0.075 -1.476 2.655 -1.102 1.608 0.005]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4000 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.105m tip_dist=0.368m q=[ 0.175 -1.363 2.641 -1.109 1.597 0.013]
|
| 223 |
-
approach step= 60/100 pre_dist=0.068m tip_dist=0.334m q=[ 0.274 -1.227 2.613 -1.122 1.561 0.022]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3362 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.030m tip_dist=0.301m q=[ 0.366 -1.071 2.570 -1.140 1.503 0.033]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0136m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.2763 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2589m force=0.000N stall=0 q=[ 0.430 -0.855 2.502 -1.163 1.393 0.047]
|
| 232 |
-
press step= 40 dist=0.2223m force=0.000N stall=0 q=[ 0.458 -0.659 2.432 -1.185 1.295 0.058]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2017 force=0.0000
|
| 235 |
-
press step= 60 dist=0.1855m force=0.000N stall=0 q=[ 0.469 -0.456 2.347 -1.209 1.211 0.070]
|
| 236 |
-
press step= 80 dist=0.1484m force=0.000N stall=0 q=[ 0.465 -0.254 2.245 -1.235 1.146 0.082]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1267 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1112m force=0.000N stall=0 q=[ 0.449 -0.059 2.129 -1.264 1.099 0.094]
|
| 240 |
-
press step= 120 dist=0.0741m force=0.000N stall=0 q=[ 0.427 0.126 2.000 -1.295 1.069 0.106]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0541 force=0.0000
|
| 243 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=46.382N dist=0.0458
|
| 244 |
-
[PRESSED] force-contact at step 138 force=46.382N dist=0.0411m
|
| 245 |
-
[PHASE] hold
|
| 246 |
-
[PHASE] retract: up to 600 steps
|
| 247 |
-
[retract-1] button → pre-press
|
| 248 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 249 |
-
[AUTO_PRESS] count=321 env0 dist=0.0493 force=0.0000
|
| 250 |
-
[AUTO_PRESS] door state=2 progress=0.076 panels=2
|
| 251 |
-
[AUTO_PRESS] count=361 env0 dist=0.1165 force=0.0000
|
| 252 |
-
[AUTO_PRESS] door state=2 progress=0.309 panels=2
|
| 253 |
-
[AUTO_PRESS] count=401 env0 dist=0.1890 force=0.0000
|
| 254 |
-
[AUTO_PRESS] door state=2 progress=0.543 panels=2
|
| 255 |
-
[AUTO_PRESS] count=441 env0 dist=0.2631 force=0.0000
|
| 256 |
-
pre-press reached at step 127 dist=0.0147m
|
| 257 |
-
[retract-2] pre-press → home
|
| 258 |
-
[AUTO_PRESS] door state=2 progress=0.776 panels=2
|
| 259 |
-
[AUTO_PRESS] count=481 env0 dist=0.3276 force=0.0000
|
| 260 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 261 |
-
[AUTO_PRESS] count=521 env0 dist=0.3933 force=0.0000
|
| 262 |
-
home reached at step 92 dist=0.0144m
|
| 263 |
-
[PHASE] home_idle: 150 steps
|
| 264 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 265 |
-
[AUTO_PRESS] count=561 env0 dist=0.4271 force=0.0000
|
| 266 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 267 |
-
[AUTO_PRESS] count=601 env0 dist=0.4271 force=0.0000
|
| 268 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 269 |
-
[AUTO_PRESS] count=641 env0 dist=0.4271 force=0.0000
|
| 270 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 271 |
-
[AUTO_PRESS] count=681 env0 dist=0.4271 force=0.0000
|
| 272 |
-
|
| 273 |
-
============================================================
|
| 274 |
-
[RESULT] pressed : True
|
| 275 |
-
[RESULT] min_distance : 0.0411 m
|
| 276 |
-
[RESULT] final_dist : 0.4300 m
|
| 277 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_21.hdf5
|
| 278 |
-
============================================================
|
| 279 |
-
2026-04-23T02:55:57Z [16,716ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 280 |
-
2026-04-23T02:55:57Z [16,717ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 281 |
-
2026-04-23T02:56:00Z [19,415ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 282 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 283 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 284 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 285 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 286 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 288 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 296 |
-
2026-04-23T02:59:08Z [207,915ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 297 |
-
2026-04-23T02:59:08Z [207,916ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 298 |
-
2026-04-23T02:59:08Z [207,987ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 299 |
-
2026-04-23T02:59:08Z [208,069ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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v02/demo_22.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:00a5dd687df73d3551900a0b25726d2dfde7412cb5f2d34e685d8e8532eb0bdd
|
| 3 |
-
size 2065664579
|
|
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|
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|
v02/demo_22.log
DELETED
|
@@ -1,306 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_22.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-59-24.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m02:59:24 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025909.log
|
| 15 |
-
2026-04-23T02:59:10Z [480ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T02:59:10Z [480ms] [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)
|
| 17 |
-
2026-04-23T02:59:10Z [496ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80143
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T02:59:10Z [992ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T02:59:10Z [1,382ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T02:59:10Z [1,382ms] [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)
|
| 40 |
-
2026-04-23T02:59:10Z [1,396ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T02:59:10Z [1,396ms] [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)
|
| 42 |
-
2026-04-23T02:59:10Z [1,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T02:59:10Z [1,401ms] [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)
|
| 44 |
-
2026-04-23T02:59:10Z [1,407ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T02:59:10Z [1,407ms] [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)
|
| 46 |
-
2026-04-23T02:59:10Z [1,408ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T02:59:10Z [1,408ms] [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)
|
| 48 |
-
2026-04-23T02:59:10Z [1,409ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T02:59:10Z [1,409ms] [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)
|
| 50 |
-
2026-04-23T02:59:11Z [1,668ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T02:59:11Z [2,083ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T02:59:11Z [2,092ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T02:59:18Z [9,449ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T02:59:19Z [9,686ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T02:59:19Z [9,686ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T02:59:19Z [9,692ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T02:59:19Z [10,127ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8005 instead
|
| 61 |
-
2026-04-23T02:59:21Z [11,508ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T02:59:21Z [11,509ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T02:59:21Z [11,509ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T02:59:21Z [11,596ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T02:59:26Z [16,496ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 70 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 71 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 72 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 73 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 74 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 75 |
-
2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 22
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.041740 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.486129 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 10
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.263 dir=-1.0 travel=0.526
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.263 dir=1.0 travel=0.526
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.8151, 0.9713, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.1791, 1.0041, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.6359, -0.0329, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0329, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.6709, -0.0329, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.436, 0.254, 2.401, -2.655, 1.135, 0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.5039 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.5039 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.3440999984741211, 0.8877000212669373, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.141m tip_dist=0.479m q=[ 0.075 -1.474 2.655 -1.102 1.606 0.005]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4771 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.103m tip_dist=0.445m q=[ 0.174 -1.359 2.640 -1.110 1.593 0.013]
|
| 223 |
-
approach step= 60/100 pre_dist=0.066m tip_dist=0.411m q=[ 0.273 -1.223 2.611 -1.122 1.555 0.022]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.4136 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.029m tip_dist=0.378m q=[ 0.364 -1.064 2.568 -1.140 1.494 0.033]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 88 dist_to_pre=0.0137m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3534 force=0.0000
|
| 231 |
-
press step= 20 dist=0.3378m force=0.000N stall=0 q=[ 0.425 -0.852 2.496 -1.166 1.383 0.047]
|
| 232 |
-
press step= 40 dist=0.3013m force=0.000N stall=0 q=[ 0.453 -0.652 2.419 -1.190 1.284 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2787 force=0.0000
|
| 235 |
-
press step= 60 dist=0.2645m force=0.000N stall=0 q=[ 0.463 -0.448 2.326 -1.216 1.200 0.072]
|
| 236 |
-
press step= 80 dist=0.2275m force=0.000N stall=0 q=[ 0.458 -0.246 2.218 -1.244 1.135 0.084]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.2034 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1904m force=0.000N stall=0 q=[ 0.441 -0.053 2.097 -1.274 1.090 0.096]
|
| 240 |
-
press step= 120 dist=0.1534m force=0.000N stall=0 q=[ 0.418 0.128 1.963 -1.306 1.063 0.108]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.1291 force=0.0000
|
| 243 |
-
press step= 140 dist=0.1167m force=0.000N stall=0 q=[ 0.392 0.301 1.817 -1.338 1.049 0.120]
|
| 244 |
-
press step= 160 dist=0.0805m force=0.000N stall=0 q=[ 0.364 0.466 1.657 -1.370 1.049 0.133]
|
| 245 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 246 |
-
[AUTO_PRESS] count=321 env0 dist=0.0582 force=0.0000
|
| 247 |
-
press step= 180 dist=0.0450m force=0.000N stall=0 q=[ 0.336 0.627 1.482 -1.400 1.061 0.147]
|
| 248 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=90.820N dist=0.0456
|
| 249 |
-
[PRESSED] force-contact at step 182 force=90.820N dist=0.0420m
|
| 250 |
-
[PHASE] hold
|
| 251 |
-
[PHASE] retract: up to 600 steps
|
| 252 |
-
[retract-1] button → pre-press
|
| 253 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 254 |
-
[AUTO_PRESS] count=361 env0 dist=0.0462 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 256 |
-
[AUTO_PRESS] count=401 env0 dist=0.1100 force=0.0000
|
| 257 |
-
[AUTO_PRESS] door state=2 progress=0.222 panels=2
|
| 258 |
-
[AUTO_PRESS] count=441 env0 dist=0.1827 force=0.0000
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.455 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.2556 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.688 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3290 force=0.0000
|
| 263 |
-
pre-press reached at step 171 dist=0.0142m
|
| 264 |
-
[retract-2] pre-press → home
|
| 265 |
-
[AUTO_PRESS] door state=2 progress=0.922 panels=2
|
| 266 |
-
[AUTO_PRESS] count=561 env0 dist=0.3953 force=0.0000
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4633 force=0.0000
|
| 269 |
-
home reached at step 89 dist=0.0145m
|
| 270 |
-
[PHASE] home_idle: 150 steps
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=641 env0 dist=0.5039 force=0.0000
|
| 273 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 274 |
-
[AUTO_PRESS] count=681 env0 dist=0.5039 force=0.0000
|
| 275 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 276 |
-
[AUTO_PRESS] count=721 env0 dist=0.5039 force=0.0000
|
| 277 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 278 |
-
[AUTO_PRESS] count=761 env0 dist=0.5039 force=0.0000
|
| 279 |
-
|
| 280 |
-
============================================================
|
| 281 |
-
[RESULT] pressed : True
|
| 282 |
-
[RESULT] min_distance : 0.0420 m
|
| 283 |
-
[RESULT] final_dist : 0.5062 m
|
| 284 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_22.hdf5
|
| 285 |
-
============================================================
|
| 286 |
-
2026-04-23T02:59:26Z [16,531ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 287 |
-
2026-04-23T02:59:26Z [16,531ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 288 |
-
2026-04-23T02:59:28Z [19,144ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 289 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 292 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
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2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 297 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 298 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 299 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 300 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 301 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 302 |
-
2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 303 |
-
2026-04-23T03:02:47Z [217,550ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 304 |
-
2026-04-23T03:02:47Z [217,551ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 305 |
-
2026-04-23T03:02:47Z [217,624ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 306 |
-
2026-04-23T03:02:47Z [217,729ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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|
v02/demo_23.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:cb573bc6ce0984098b910d6c320ee30b67985b627434673dcaae68291901e7e8
|
| 3 |
-
size 2200770651
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|
v02/demo_23.log
DELETED
|
@@ -1,300 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_23.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-03-03.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m03:03:03 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030247.log
|
| 15 |
-
2026-04-23T03:02:48Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T03:02:48Z [347ms] [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)
|
| 17 |
-
2026-04-23T03:02:48Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80148
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T03:02:48Z [791ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T03:02:48Z [1,100ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T03:02:48Z [1,100ms] [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)
|
| 40 |
-
2026-04-23T03:02:49Z [1,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T03:02:49Z [1,113ms] [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)
|
| 42 |
-
2026-04-23T03:02:49Z [1,118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T03:02:49Z [1,118ms] [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)
|
| 44 |
-
2026-04-23T03:02:49Z [1,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T03:02:49Z [1,123ms] [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)
|
| 46 |
-
2026-04-23T03:02:49Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T03:02:49Z [1,124ms] [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)
|
| 48 |
-
2026-04-23T03:02:49Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T03:02:49Z [1,124ms] [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)
|
| 50 |
-
2026-04-23T03:02:49Z [1,325ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T03:02:49Z [1,641ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T03:02:49Z [1,648ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T03:02:57Z [9,350ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T03:02:57Z [9,650ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T03:02:57Z [9,650ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T03:02:57Z [9,650ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T03:02:58Z [10,280ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8091 instead
|
| 61 |
-
2026-04-23T03:03:00Z [12,182ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T03:03:00Z [12,182ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T03:03:00Z [12,183ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T03:03:00Z [12,285ms] [Warning] [omni.fabric.plugin] Warning: attribute resolution not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T03:03:04Z [17,090ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 68 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 69 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 70 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 71 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 72 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 73 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 74 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 75 |
-
2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 23
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.014296 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.487660 seconds
|
| 93 |
-
[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
|
| 98 |
-
+--------+-------+-------+
|
| 99 |
-
+--------+-------+-------+
|
| 100 |
-
|
| 101 |
-
[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 14
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.250 dir=-1.0 travel=0.499
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.250 dir=1.0 travel=0.499
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.7424, 0.8901, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.1642, 0.918, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.5782, -0.0279, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0279, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.6132, -0.0279, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.463, 0.252, 2.405, -2.657, 1.107, 0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4511 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4511 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.32910001277923584, 0.8015999794006348, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.143m tip_dist=0.427m q=[ 0.075 -1.476 2.656 -1.102 1.609 0.005]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4242 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.106m tip_dist=0.393m q=[ 0.175 -1.364 2.641 -1.109 1.599 0.013]
|
| 223 |
-
approach step= 60/100 pre_dist=0.068m tip_dist=0.359m q=[ 0.274 -1.229 2.613 -1.122 1.564 0.022]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3609 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.031m tip_dist=0.326m q=[ 0.367 -1.073 2.570 -1.139 1.507 0.033]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0144m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3013 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2838m force=0.000N stall=0 q=[ 0.432 -0.856 2.501 -1.164 1.395 0.047]
|
| 232 |
-
press step= 40 dist=0.2473m force=0.000N stall=0 q=[ 0.460 -0.659 2.428 -1.187 1.297 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2267 force=0.0000
|
| 235 |
-
press step= 60 dist=0.2104m force=0.000N stall=0 q=[ 0.471 -0.456 2.340 -1.211 1.212 0.071]
|
| 236 |
-
press step= 80 dist=0.1734m force=0.000N stall=0 q=[ 0.467 -0.254 2.237 -1.238 1.146 0.083]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1516 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1362m force=0.000N stall=0 q=[ 0.451 -0.060 2.119 -1.268 1.100 0.095]
|
| 240 |
-
press step= 120 dist=0.0991m force=0.000N stall=0 q=[ 0.428 0.124 1.989 -1.299 1.070 0.107]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0779 force=0.0000
|
| 243 |
-
press step= 140 dist=0.0623m force=0.000N stall=0 q=[ 0.402 0.297 1.845 -1.331 1.055 0.119]
|
| 244 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=126.845N dist=0.0455
|
| 245 |
-
[PRESSED] force-contact at step 152 force=126.845N dist=0.0412m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0454 force=7.2934
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.0910 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1633 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.198 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2363 force=0.0000
|
| 257 |
-
pre-press reached at step 141 dist=0.0138m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.432 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.3083 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.665 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3718 force=0.0000
|
| 263 |
-
[AUTO_PRESS] door state=2 progress=0.898 panels=2
|
| 264 |
-
[AUTO_PRESS] count=561 env0 dist=0.4417 force=0.0000
|
| 265 |
-
home reached at step 92 dist=0.0134m
|
| 266 |
-
[PHASE] home_idle: 150 steps
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4511 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4511 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4511 force=0.0000
|
| 273 |
-
|
| 274 |
-
============================================================
|
| 275 |
-
[RESULT] pressed : True
|
| 276 |
-
[RESULT] min_distance : 0.0412 m
|
| 277 |
-
[RESULT] final_dist : 0.4540 m
|
| 278 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_23.hdf5
|
| 279 |
-
============================================================
|
| 280 |
-
2026-04-23T03:03:05Z [17,124ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 281 |
-
2026-04-23T03:03:05Z [17,124ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
|
| 282 |
-
2026-04-23T03:03:07Z [19,668ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 283 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 284 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 285 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
|
| 286 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 287 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 288 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 289 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 290 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 291 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 292 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 293 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 294 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 295 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
|
| 296 |
-
2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
|
| 297 |
-
2026-04-23T03:06:30Z [222,472ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
|
| 298 |
-
2026-04-23T03:06:30Z [222,473ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 299 |
-
2026-04-23T03:06:30Z [222,544ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
|
| 300 |
-
2026-04-23T03:06:30Z [222,590ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|
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|
v02/demo_24.hdf5
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:119ff0732114bf31aabb4155996d3122614dbc7eae19449d5c234982e3e57d72
|
| 3 |
-
size 2208977751
|
|
|
|
|
|
|
|
|
|
|
|
v02/demo_24.log
DELETED
|
@@ -1,300 +0,0 @@
|
|
| 1 |
-
cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
|
| 2 |
-
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15.
|
| 3 |
-
[INFO][AppLauncher]: Using device: cuda:0
|
| 4 |
-
[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit
|
| 5 |
-
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
|
| 6 |
-
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_24.hdf5
|
| 7 |
-
|
| 8 |
-
[36m======================================================================================[0m
|
| 9 |
-
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-06-45.log[0m
|
| 10 |
-
[36m======================================================================================[0m
|
| 11 |
-
|
| 12 |
-
[33m03:06:45 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
|
| 13 |
-
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
|
| 14 |
-
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030631.log
|
| 15 |
-
2026-04-23T03:06:31Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 16 |
-
2026-04-23T03:06:31Z [347ms] [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)
|
| 17 |
-
2026-04-23T03:06:31Z [362ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 18 |
-
|
| 19 |
-
|---------------------------------------------------------------------------------------------|
|
| 20 |
-
| Driver Version: 580.126.09 | Graphics API: Vulkan
|
| 21 |
-
|=============================================================================================|
|
| 22 |
-
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 23 |
-
| | | | | | Device-ID | UUID |
|
| 24 |
-
| | | | | | Bus-ID | |
|
| 25 |
-
|---------------------------------------------------------------------------------------------|
|
| 26 |
-
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
|
| 27 |
-
| | | | | | 2bb5 | 0d829d0d.. |
|
| 28 |
-
| | | | | | 4 | |
|
| 29 |
-
|=============================================================================================|
|
| 30 |
-
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
|
| 31 |
-
| Processor: AMD EPYC 9555 64-Core Processor
|
| 32 |
-
| Cores: 30 | Logical Cores: 30
|
| 33 |
-
|---------------------------------------------------------------------------------------------|
|
| 34 |
-
| Total Memory (MB): 90484 | Free Memory: 80156
|
| 35 |
-
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 36 |
-
|---------------------------------------------------------------------------------------------|
|
| 37 |
-
2026-04-23T03:06:31Z [805ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
|
| 38 |
-
2026-04-23T03:06:32Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 39 |
-
2026-04-23T03:06:32Z [1,122ms] [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)
|
| 40 |
-
2026-04-23T03:06:32Z [1,135ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 41 |
-
2026-04-23T03:06:32Z [1,135ms] [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)
|
| 42 |
-
2026-04-23T03:06:32Z [1,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 43 |
-
2026-04-23T03:06:32Z [1,140ms] [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)
|
| 44 |
-
2026-04-23T03:06:32Z [1,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 45 |
-
2026-04-23T03:06:32Z [1,145ms] [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)
|
| 46 |
-
2026-04-23T03:06:32Z [1,146ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 47 |
-
2026-04-23T03:06:32Z [1,146ms] [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)
|
| 48 |
-
2026-04-23T03:06:32Z [1,147ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 49 |
-
2026-04-23T03:06:32Z [1,147ms] [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)
|
| 50 |
-
2026-04-23T03:06:32Z [1,347ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 51 |
-
2026-04-23T03:06:32Z [1,666ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 52 |
-
2026-04-23T03:06:32Z [1,673ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 53 |
-
|
| 54 |
-
Failed to open [/var/run/utmp]
|
| 55 |
-
Active user not found. Using default user [kiosk]Streaming server started.
|
| 56 |
-
2026-04-23T03:06:39Z [8,828ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 57 |
-
2026-04-23T03:06:40Z [9,077ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
|
| 58 |
-
2026-04-23T03:06:40Z [9,077ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
|
| 59 |
-
2026-04-23T03:06:40Z [9,078ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 60 |
-
2026-04-23T03:06:40Z [9,473ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8019 instead
|
| 61 |
-
2026-04-23T03:06:42Z [10,889ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 62 |
-
2026-04-23T03:06:42Z [10,890ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 63 |
-
2026-04-23T03:06:42Z [10,891ms] [Warning] [gpu.foundation.plugin] Invalid sync scope for buffer resource 'shared swapchain buffer'. Create resource with valid sync scope for lifetime tracking or use kResourceUsageFlagNoSyncScope.
|
| 64 |
-
2026-04-23T03:06:42Z [10,977ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9
|
| 65 |
-
|
| 66 |
-
2026-04-23T03:06:47Z [16,267ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 67 |
-
2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 68 |
-
2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 69 |
-
2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 70 |
-
2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 71 |
-
2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 72 |
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2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 73 |
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2026-04-23T03:06:47Z [16,272ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 74 |
-
2026-04-23T03:06:47Z [16,272ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 75 |
-
2026-04-23T03:06:47Z [16,272ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 76 |
-
/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
|
| 77 |
-
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
|
| 78 |
-
[INFO]: Base environment:
|
| 79 |
-
Environment device : cuda:0
|
| 80 |
-
Environment seed : 24
|
| 81 |
-
Physics step-size : 0.016666666666666666
|
| 82 |
-
Rendering step-size : 0.016666666666666666
|
| 83 |
-
Environment step-size : 0.016666666666666666
|
| 84 |
-
[INFO]: Time taken for scene creation : 1.300705 seconds
|
| 85 |
-
[INFO]: Scene manager: <class InteractiveScene>
|
| 86 |
-
Number of environments: 1
|
| 87 |
-
Environment spacing : 3.0
|
| 88 |
-
Source prim name : /World/envs/env_0
|
| 89 |
-
Global prim paths : ['/World/GroundPlane']
|
| 90 |
-
Replicate physics : True
|
| 91 |
-
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 92 |
-
[INFO]: Time taken for simulation start : 1.724039 seconds
|
| 93 |
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[INFO] Command Manager: <CommandManager> contains 0 active terms.
|
| 94 |
-
+------------------------+
|
| 95 |
-
| Active Command Terms |
|
| 96 |
-
+--------+-------+-------+
|
| 97 |
-
| Index | Name | Type |
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| 98 |
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+--------+-------+-------+
|
| 99 |
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+--------+-------+-------+
|
| 100 |
-
|
| 101 |
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[INFO] Event Manager: <EventManager> contains 3 active terms.
|
| 102 |
-
+----------------------------------------+
|
| 103 |
-
| Active Event Terms in Mode: 'startup' |
|
| 104 |
-
+---------+------------------------------+
|
| 105 |
-
| Index | Name |
|
| 106 |
-
+---------+------------------------------+
|
| 107 |
-
| 0 | robot_physics_material |
|
| 108 |
-
| 1 | init_elevator |
|
| 109 |
-
+---------+------------------------------+
|
| 110 |
-
+--------------------------------------+
|
| 111 |
-
| Active Event Terms in Mode: 'reset' |
|
| 112 |
-
+--------+-----------------------------+
|
| 113 |
-
| Index | Name |
|
| 114 |
-
+--------+-----------------------------+
|
| 115 |
-
| 0 | reset_all |
|
| 116 |
-
| 1 | randomize_elevator_pose |
|
| 117 |
-
| 2 | reset_robot_at_hall_side |
|
| 118 |
-
+--------+-----------------------------+
|
| 119 |
-
+-----------------------------------------------------+
|
| 120 |
-
| Active Event Terms in Mode: 'interval' |
|
| 121 |
-
+-------+-------------------+-------------------------+
|
| 122 |
-
| Index | Name | Interval time range (s) |
|
| 123 |
-
+-------+-------------------+-------------------------+
|
| 124 |
-
| 0 | auto_press_button | (0.0, 0.0) |
|
| 125 |
-
+-------+-------------------+-------------------------+
|
| 126 |
-
|
| 127 |
-
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
|
| 128 |
-
+--------------------------------------------------+
|
| 129 |
-
| Active Recorder Terms |
|
| 130 |
-
+-------+------------------------------------------+
|
| 131 |
-
| Index | Name |
|
| 132 |
-
+-------+------------------------------------------+
|
| 133 |
-
| 0 | record_initial_state |
|
| 134 |
-
| 1 | record_post_step_states |
|
| 135 |
-
| 2 | record_pre_step_actions |
|
| 136 |
-
| 3 | record_pre_step_flat_policy_observations |
|
| 137 |
-
| 4 | record_post_step_processed_actions |
|
| 138 |
-
+-------+------------------------------------------+
|
| 139 |
-
|
| 140 |
-
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 141 |
-
+------------------------------------+
|
| 142 |
-
| Active Action Terms (shape: 7) |
|
| 143 |
-
+-------+----------------+-----------+
|
| 144 |
-
| Index | Name | Dimension |
|
| 145 |
-
+-------+----------------+-----------+
|
| 146 |
-
| 0 | arm_action | 6 |
|
| 147 |
-
| 1 | gripper_action | 1 |
|
| 148 |
-
+-------+----------------+-----------+
|
| 149 |
-
|
| 150 |
-
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 151 |
-
+-------------------------------------------------------+
|
| 152 |
-
| Active Observation Terms in Group: 'policy' |
|
| 153 |
-
+-------+-----------------------------+-----------------+
|
| 154 |
-
| Index | Name | Shape |
|
| 155 |
-
+-------+-----------------------------+-----------------+
|
| 156 |
-
| 0 | joint_pos | (10,) |
|
| 157 |
-
| 1 | joint_vel | (10,) |
|
| 158 |
-
| 2 | eef_pos | (3,) |
|
| 159 |
-
| 3 | eef_quat | (4,) |
|
| 160 |
-
| 4 | call_button_pos | (3,) |
|
| 161 |
-
| 5 | rel_ee_call_button_distance | (3,) |
|
| 162 |
-
| 6 | actions | (7,) |
|
| 163 |
-
| 7 | cam_wrist | (1200, 1920, 3) |
|
| 164 |
-
| 8 | cam_top | (1200, 1920, 3) |
|
| 165 |
-
| 9 | call_button_lit | (1,) |
|
| 166 |
-
| 10 | cam_belly | (1200, 1920, 3) |
|
| 167 |
-
+-------+-----------------------------+-----------------+
|
| 168 |
-
|
| 169 |
-
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
|
| 170 |
-
+-----------------------------+
|
| 171 |
-
| Active Termination Terms |
|
| 172 |
-
+-------+----------+----------+
|
| 173 |
-
| Index | Name | Time Out |
|
| 174 |
-
+-------+----------+----------+
|
| 175 |
-
| 0 | time_out | True |
|
| 176 |
-
| 1 | success | False |
|
| 177 |
-
+-------+----------+----------+
|
| 178 |
-
|
| 179 |
-
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
|
| 180 |
-
+----------------------------------+
|
| 181 |
-
| Active Reward Terms |
|
| 182 |
-
+-------+----------------+---------+
|
| 183 |
-
| Index | Name | Weight |
|
| 184 |
-
+-------+----------------+---------+
|
| 185 |
-
| 0 | action_rate_l2 | -0.0001 |
|
| 186 |
-
+-------+----------------+---------+
|
| 187 |
-
|
| 188 |
-
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
|
| 189 |
-
+----------------------+
|
| 190 |
-
| Active Curriculum Terms |
|
| 191 |
-
+-----------+----------+
|
| 192 |
-
| Index | Name |
|
| 193 |
-
+-----------+----------+
|
| 194 |
-
+-----------+----------+
|
| 195 |
-
|
| 196 |
-
[INIT_ELEV] creating Elevator instance...
|
| 197 |
-
[INIT_ELEV] done. btn_infos[0] len = 14
|
| 198 |
-
[INIT_ELEV] door panels[0] = 2
|
| 199 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.250 dir=-1.0 travel=0.499
|
| 200 |
-
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.250 dir=1.0 travel=0.499
|
| 201 |
-
Creating window for environment.
|
| 202 |
-
[INFO]: Completed setting up the environment...
|
| 203 |
-
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
|
| 204 |
-
[SETUP] button_w = [0.7424, 0.8901, 1.13]
|
| 205 |
-
[SETUP] robot_w pos = [0.1704, 0.904, 0.908] yaw=0.000
|
| 206 |
-
[SETUP] button_base = [0.572, -0.0139, 0.222]
|
| 207 |
-
[SETUP] pre_press_b = [0.3, -0.0139, 0.332]
|
| 208 |
-
[SETUP] press_b = [0.607, -0.0139, 0.332]
|
| 209 |
-
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
|
| 210 |
-
[SETUP] goal_pre_q = [0.539, 0.247, 2.413, -2.66, 1.032, -0.0] ik_err=0.0000m
|
| 211 |
-
[PHASE] gripper close
|
| 212 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 213 |
-
[AUTO_PRESS] count=1 env0 dist=0.4478 force=0.0000
|
| 214 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 215 |
-
[AUTO_PRESS] count=41 env0 dist=0.4478 force=0.0000
|
| 216 |
-
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
|
| 217 |
-
[SETUP] home_tip_w = [0.3353999853134155, 0.7875999808311462, 1.2956000566482544]
|
| 218 |
-
[PHASE] approach: up to 100 steps
|
| 219 |
-
approach step= 20/100 pre_dist=0.151m tip_dist=0.424m q=[ 0.076 -1.482 2.657 -1.102 1.616 0.004]
|
| 220 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 221 |
-
[AUTO_PRESS] count=81 env0 dist=0.4216 force=0.0000
|
| 222 |
-
approach step= 40/100 pre_dist=0.114m tip_dist=0.391m q=[ 0.176 -1.376 2.643 -1.108 1.616 0.012]
|
| 223 |
-
approach step= 60/100 pre_dist=0.076m tip_dist=0.358m q=[ 0.279 -1.248 2.617 -1.120 1.590 0.021]
|
| 224 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 225 |
-
[AUTO_PRESS] count=121 env0 dist=0.3602 force=0.0000
|
| 226 |
-
approach step= 80/100 pre_dist=0.039m tip_dist=0.326m q=[ 0.375 -1.098 2.577 -1.137 1.541 0.031]
|
| 227 |
-
[APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0146m
|
| 228 |
-
[PHASE] press (micro-thrust): up to 400 steps
|
| 229 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 230 |
-
[AUTO_PRESS] count=161 env0 dist=0.3029 force=0.0000
|
| 231 |
-
press step= 20 dist=0.2778m force=0.000N stall=0 q=[ 0.457 -0.850 2.498 -1.166 1.419 0.047]
|
| 232 |
-
press step= 40 dist=0.2412m force=0.000N stall=0 q=[ 0.483 -0.656 2.426 -1.188 1.320 0.059]
|
| 233 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 234 |
-
[AUTO_PRESS] count=201 env0 dist=0.2289 force=0.0000
|
| 235 |
-
press step= 60 dist=0.2044m force=0.000N stall=0 q=[ 0.493 -0.455 2.339 -1.213 1.234 0.071]
|
| 236 |
-
press step= 80 dist=0.1673m force=0.000N stall=0 q=[ 0.488 -0.254 2.237 -1.240 1.167 0.083]
|
| 237 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 238 |
-
[AUTO_PRESS] count=241 env0 dist=0.1535 force=0.0000
|
| 239 |
-
press step= 100 dist=0.1301m force=0.000N stall=0 q=[ 0.472 -0.061 2.121 -1.269 1.119 0.094]
|
| 240 |
-
press step= 120 dist=0.0930m force=0.000N stall=0 q=[ 0.449 0.122 1.992 -1.301 1.087 0.106]
|
| 241 |
-
[AUTO_PRESS] door state=0 progress=0.000 panels=2
|
| 242 |
-
[AUTO_PRESS] count=281 env0 dist=0.0796 force=0.0000
|
| 243 |
-
press step= 140 dist=0.0562m force=0.000N stall=0 q=[ 0.423 0.295 1.849 -1.333 1.069 0.118]
|
| 244 |
-
[AUTO_PRESS] PRESS TRIGGERED env0 force=1.737N dist=0.0464
|
| 245 |
-
[PRESSED] force-contact at step 148 force=1.737N dist=0.0416m
|
| 246 |
-
[PHASE] hold
|
| 247 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 248 |
-
[AUTO_PRESS] count=321 env0 dist=0.0464 force=2.6999
|
| 249 |
-
[PHASE] retract: up to 600 steps
|
| 250 |
-
[retract-1] button → pre-press
|
| 251 |
-
[AUTO_PRESS] door state=1 progress=0.000 panels=2
|
| 252 |
-
[AUTO_PRESS] count=361 env0 dist=0.0922 force=0.0000
|
| 253 |
-
[AUTO_PRESS] door state=2 progress=0.163 panels=2
|
| 254 |
-
[AUTO_PRESS] count=401 env0 dist=0.1645 force=0.0000
|
| 255 |
-
[AUTO_PRESS] door state=2 progress=0.397 panels=2
|
| 256 |
-
[AUTO_PRESS] count=441 env0 dist=0.2379 force=0.0000
|
| 257 |
-
pre-press reached at step 137 dist=0.0146m
|
| 258 |
-
[retract-2] pre-press → home
|
| 259 |
-
[AUTO_PRESS] door state=2 progress=0.630 panels=2
|
| 260 |
-
[AUTO_PRESS] count=481 env0 dist=0.3082 force=0.0000
|
| 261 |
-
[AUTO_PRESS] door state=2 progress=0.863 panels=2
|
| 262 |
-
[AUTO_PRESS] count=521 env0 dist=0.3696 force=0.0000
|
| 263 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 264 |
-
[AUTO_PRESS] count=561 env0 dist=0.4372 force=0.0000
|
| 265 |
-
home reached at step 96 dist=0.0146m
|
| 266 |
-
[PHASE] home_idle: 150 steps
|
| 267 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 268 |
-
[AUTO_PRESS] count=601 env0 dist=0.4478 force=0.0000
|
| 269 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 270 |
-
[AUTO_PRESS] count=641 env0 dist=0.4478 force=0.0000
|
| 271 |
-
[AUTO_PRESS] door state=3 progress=1.000 panels=2
|
| 272 |
-
[AUTO_PRESS] count=681 env0 dist=0.4478 force=0.0000
|
| 273 |
-
|
| 274 |
-
============================================================
|
| 275 |
-
[RESULT] pressed : True
|
| 276 |
-
[RESULT] min_distance : 0.0416 m
|
| 277 |
-
[RESULT] final_dist : 0.4513 m
|
| 278 |
-
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_24.hdf5
|
| 279 |
-
============================================================
|
| 280 |
-
2026-04-23T03:06:47Z [16,302ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
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| 281 |
-
2026-04-23T03:06:47Z [16,302ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
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| 282 |
-
2026-04-23T03:06:50Z [19,089ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
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2026-04-23T03:10:20Z [228,933ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
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| 297 |
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2026-04-23T03:10:20Z [228,935ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal
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2026-04-23T03:10:20Z [228,935ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
|
| 299 |
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2026-04-23T03:10:20Z [229,007ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
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2026-04-23T03:10:20Z [229,085ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
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