diff --git a/v02/demo_00.hdf5 b/v02/demo_00.hdf5 deleted file mode 100644 index 2c96a9d0e7d523c5efa4879fdc2d0ae1d098aed3..0000000000000000000000000000000000000000 --- a/v02/demo_00.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d2dae4b4feeda2d7fdb527949ed1c156b0facce0d477390277776593b53dd258 -size 2616277769 diff --git a/v02/demo_00.log b/v02/demo_00.log deleted file mode 100644 index 6cc92b325bd2cb374465019155e648d74bc01403..0000000000000000000000000000000000000000 --- a/v02/demo_00.log +++ /dev/null @@ -1,90 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_020253.log -2026-04-23T02:02:53Z [288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:53Z [299ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87077 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:02:54Z [842ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:02:54Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:54Z [1,243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:54Z [1,248ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:54Z [1,253ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:54Z [1,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:54Z [1,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:02:54Z [1,390ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:02:56Z [3,211ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:02:56Z [3,309ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:02:56Z [3,309ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:03:00Z [6,875ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -Traceback (most recent call last): - File "/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py", line 164, in - env_cfg = parse_env_cfg(args.task, num_envs=1) - ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - File "/workspace/robotis_lab/third_party/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 140, in parse_env_cfg - cfg = load_cfg_from_registry(task_name.split(":")[-1], "env_cfg_entry_point") - ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - File "/workspace/robotis_lab/third_party/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 106, in load_cfg_from_registry - mod = importlib.import_module(mod_name) - ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - File "/isaac-sim/kit/python/lib/python3.11/importlib/__init__.py", line 126, in import_module - return _bootstrap._gcd_import(name[level:], package, level) - ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - File "", line 1204, in _gcd_import - File "", line 1176, in _find_and_load - File "", line 1147, in _find_and_load_unlocked - File "", line 690, in _load_unlocked - File "", line 940, in exec_module - File "", line 241, in _call_with_frames_removed - File "/workspace/robotis_lab/source/robotis_lab/robotis_lab/simulation_tasks/manager_based/OMY/elevator_call/joint_pos_env_cfg.py", line 10, in - from robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.elevator_call_env_cfg import ( - File "/workspace/robotis_lab/source/robotis_lab/robotis_lab/simulation_tasks/manager_based/OMY/elevator_call/elevator_call_env_cfg.py", line 29, in - from isaac_sim.assets.elevator import ELEVATOR_CFG, ElevatorBehaviorCfg -ModuleNotFoundError: No module named 'isaac_sim' -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:03:01Z [7,767ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:03:01Z [7,769ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:03:01Z [7,773ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:03:01Z [7,804ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_01.hdf5 b/v02/demo_01.hdf5 deleted file mode 100644 index 27b80e9ff84c86329730cfcac772aa53cc7f500d..0000000000000000000000000000000000000000 --- a/v02/demo_01.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3341a7b4e41a513e1edeb2f61ca9c1cadbbafaf109cb40d2d37adc50bdd409ca -size 2344491021 diff --git a/v02/demo_01.log b/v02/demo_01.log deleted file mode 100644 index b30fd63dcc1c529ac3c4ee80d7679340e350c5b9..0000000000000000000000000000000000000000 --- a/v02/demo_01.log +++ /dev/null @@ -1,276 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_01.hdf5 -Setting seed: 1 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 1 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.116784 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 4.133709 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.275 dir=-1.0 travel=0.551 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.275 dir=1.0 travel=0.551 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8228, 0.998, 1.13] -[SETUP] robot_w pos = [0.2426, 1.0333, 0.908] yaw=0.000 -[SETUP] button_base = [0.5802, -0.0353, 0.222] -[SETUP] pre_press_b = [0.3, -0.0353, 0.332] -[SETUP] press_b = [0.6152, -0.0353, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.423, 0.256, 2.399, -2.655, 1.148, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4519 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4519 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4074999988079071, 0.9168999791145325, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4183 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3556 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 85 dist_to_pre=0.0133m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2901 force=0.0000 - press step= 20 dist=0.2800m force=0.000N stall=0 q=[ 0.423 -0.823 2.485 -1.168 1.366 0.048] - press step= 40 dist=0.2433m force=0.000N stall=0 q=[ 0.446 -0.623 2.409 -1.191 1.272 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2145 force=0.0000 - press step= 60 dist=0.2064m force=0.000N stall=0 q=[ 0.453 -0.419 2.317 -1.215 1.195 0.072] - press step= 80 dist=0.1696m force=0.000N stall=0 q=[ 0.445 -0.220 2.210 -1.243 1.137 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1399 force=0.0000 - press step= 100 dist=0.1326m force=0.000N stall=0 q=[ 0.428 -0.030 2.090 -1.272 1.097 0.096] - press step= 120 dist=0.0957m force=0.000N stall=0 q=[ 0.405 0.150 1.958 -1.303 1.073 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0670 force=0.0000 - press step= 140 dist=0.0590m force=0.000N stall=0 q=[ 0.380 0.321 1.814 -1.335 1.062 0.120] -[AUTO_PRESS] PRESS TRIGGERED env0 force=68.485N dist=0.0456 - [PRESSED] force-contact at step 150 force=68.485N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0457 force=0.6946 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1076 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1809 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2555 force=0.0000 - pre-press reached at step 137 dist=0.0143m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.146 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3250 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.379 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3913 force=0.0000 - home reached at step 90 dist=0.0147m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.613 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4608 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.846 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4511 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4519 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4519 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.4544 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_01.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_022958.log -2026-04-23T02:29:58Z [288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:29:58Z [299ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 76043 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:29:59Z [790ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:29:59Z [1,269ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:30:00Z [1,483ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:30:00Z [1,490ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:30:00Z [1,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:30:00Z [1,497ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:30:00Z [1,498ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:30:00Z [1,640ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:30:02Z [3,505ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:30:02Z [3,600ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:30:02Z [3,600ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:30:04Z [5,621ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it -2026-04-23T02:30:08Z [10,439ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:35:10Z [312,030ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:35:10Z [312,033ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:35:10Z [312,107ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:35:10Z [312,147ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_02.hdf5 b/v02/demo_02.hdf5 deleted file mode 100644 index dca0f0bfa833f2f2c868fc7f2643c438bb52097a..0000000000000000000000000000000000000000 --- a/v02/demo_02.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:63824049a157c63ed24c7c38767aebf1fdcdc30e173fb31f232c3975a38f6d73 -size 2057605855 diff --git a/v02/demo_02.log b/v02/demo_02.log deleted file mode 100644 index 88425b632a35471a60310b32511122eaaecdf252..0000000000000000000000000000000000000000 --- a/v02/demo_02.log +++ /dev/null @@ -1,277 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_02.hdf5 -Setting seed: 2 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 2 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.295724 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.507070 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 10 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.195 dir=-1.0 travel=0.390 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.195 dir=1.0 travel=0.390 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1321, -0.6484, 1.13] -[SETUP] robot_w pos = [0.5386, -0.6405, 0.908] yaw=0.000 -[SETUP] button_base = [0.5935, -0.008, 0.222] -[SETUP] pre_press_b = [0.3, -0.008, 0.332] -[SETUP] press_b = [0.6285, -0.008, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.57, 0.245, 2.415, -2.661, 1.001, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4686 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4686 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.703499972820282, -0.7569000124931335, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4368 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3779 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0133m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3180 force=0.0000 - press step= 20 dist=0.2916m force=0.000N stall=0 q=[ 0.472 -0.809 2.477 -1.172 1.409 0.049] - press step= 40 dist=0.2549m force=0.000N stall=0 q=[ 0.491 -0.613 2.400 -1.196 1.314 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2425 force=0.0000 - press step= 60 dist=0.2180m force=0.000N stall=0 q=[ 0.496 -0.412 2.308 -1.222 1.234 0.073] - press step= 80 dist=0.1811m force=0.000N stall=0 q=[ 0.487 -0.217 2.201 -1.250 1.174 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1674 force=0.0000 - press step= 100 dist=0.1441m force=0.000N stall=0 q=[ 0.469 -0.029 2.082 -1.280 1.131 0.096] - press step= 120 dist=0.1072m force=0.000N stall=0 q=[ 0.445 0.150 1.951 -1.311 1.103 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0933 force=0.0000 - press step= 140 dist=0.0705m force=0.000N stall=0 q=[ 0.420 0.320 1.807 -1.343 1.088 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=67.715N dist=0.0465 - [PRESSED] force-contact at step 156 force=67.715N dist=0.0423m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0464 force=0.0000 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0839 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.122 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1568 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.356 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2308 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.589 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3061 force=0.0000 - pre-press reached at step 144 dist=0.0137m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.823 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3663 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4297 force=0.0000 - home reached at step 98 dist=0.0133m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4653 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4689 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4685 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4686 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0423 m -[RESULT] final_dist : 0.4721 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_02.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023511.log -2026-04-23T02:35:11Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:11Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87062 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:35:12Z [805ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:35:12Z [1,185ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:12Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:12Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:12Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:12Z [1,209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:12Z [1,210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:35:12Z [1,342ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:35:14Z [3,148ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:35:14Z [3,236ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:35:14Z [3,237ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:35:18Z [6,832ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:38:37Z [205,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:38:37Z [205,903ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:38:37Z [205,976ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:38:37Z [206,034ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_03.hdf5 b/v02/demo_03.hdf5 deleted file mode 100644 index 07dba358db582b3b96da61be45387432e9144414..0000000000000000000000000000000000000000 --- a/v02/demo_03.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:08a6cd5a550a5f918ce1d4bdc73ce731336675ada73cb66e208c0fea18a5c82f -size 2392760677 diff --git a/v02/demo_03.log b/v02/demo_03.log deleted file mode 100644 index d5718b66bc4a0d2e96a8234d917963c9428d4f37..0000000000000000000000000000000000000000 --- a/v02/demo_03.log +++ /dev/null @@ -1,286 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_03.hdf5 -Setting seed: 3 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 3 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.350584 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.461534 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 8 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameB initial_x=-0.204 dir=-1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameL initial_x=-0.390 dir=1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameT initial_x=-0.204 dir=1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_Glass initial_x=-0.189 dir=1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameB initial_x=0.204 dir=1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameR initial_x=0.390 dir=1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameT initial_x=0.204 dir=1.0 travel=0.407 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_Glass initial_x=0.189 dir=1.0 travel=0.407 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1679, -0.6776, 1.13] -[SETUP] robot_w pos = [0.5669, -0.7169, 0.908] yaw=0.000 -[SETUP] button_base = [0.6011, 0.0393, 0.222] -[SETUP] pre_press_b = [0.3, 0.0393, 0.332] -[SETUP] press_b = [0.6361, 0.0393, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.794, 0.258, 2.395, -2.653, 0.776, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=1 env0 dist=0.4866 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=41 env0 dist=0.4866 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.7318000197410583, -0.8334000110626221, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=81 env0 dist=0.4572 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=121 env0 dist=0.4033 force=0.0000 - 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] - 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] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=161 env0 dist=0.3506 force=0.0000 - press step= 20 dist=0.3098m force=0.000N stall=0 q=[ 0.532 -0.833 2.480 -1.172 1.496 0.048] - press step= 40 dist=0.2730m force=0.000N stall=0 q=[ 0.551 -0.643 2.406 -1.196 1.398 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=201 env0 dist=0.2774 force=0.0000 - press step= 60 dist=0.2359m force=0.000N stall=0 q=[ 0.558 -0.450 2.319 -1.222 1.313 0.071] - press step= 80 dist=0.1990m force=0.000N stall=0 q=[ 0.552 -0.258 2.217 -1.251 1.246 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=241 env0 dist=0.2017 force=0.0000 - press step= 100 dist=0.1620m force=0.000N stall=0 q=[ 0.536 -0.073 2.103 -1.281 1.195 0.093] - press step= 120 dist=0.1250m force=0.000N stall=0 q=[ 0.515 0.105 1.977 -1.312 1.159 0.104] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=281 env0 dist=0.1267 force=0.0000 - press step= 140 dist=0.0881m force=0.000N stall=0 q=[ 0.491 0.275 1.838 -1.344 1.136 0.115] - press step= 160 dist=0.0516m force=0.000N stall=0 q=[ 0.465 0.441 1.686 -1.376 1.125 0.127] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=321 env0 dist=0.0545 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=1.333N dist=0.0477 - [PRESSED] force-contact at step 165 force=1.333N dist=0.0425m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.064 panels=8 -[AUTO_PRESS] count=361 env0 dist=0.0548 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.298 panels=8 -[AUTO_PRESS] count=401 env0 dist=0.1276 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.531 panels=8 -[AUTO_PRESS] count=441 env0 dist=0.2028 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.764 panels=8 -[AUTO_PRESS] count=481 env0 dist=0.2784 force=0.0000 - pre-press reached at step 147 dist=0.0133m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.998 panels=8 -[AUTO_PRESS] count=521 env0 dist=0.3423 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=561 env0 dist=0.3970 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=601 env0 dist=0.4558 force=0.0000 - home reached at step 114 dist=0.0139m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=641 env0 dist=0.4839 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=681 env0 dist=0.4868 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=721 env0 dist=0.4865 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=761 env0 dist=0.4866 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0425 m -[RESULT] final_dist : 0.4918 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_03.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023838.log -2026-04-23T02:38:38Z [290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:38Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87085 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:38:38Z [795ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:38:39Z [1,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:39Z [1,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:39Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:39Z [1,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:39Z [1,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:39Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:38:39Z [1,333ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:38:41Z [3,144ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:38:41Z [3,220ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:38:41Z [3,221ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:38:45Z [6,989ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:42:28Z [230,297ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:42:28Z [230,299ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:42:28Z [230,371ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:42:28Z [230,459ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_04.hdf5 b/v02/demo_04.hdf5 deleted file mode 100644 index d1cee7e8090b5b7efbe36f8e411a10e491769b48..0000000000000000000000000000000000000000 --- a/v02/demo_04.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0719555b250004460fbed6e00fdca844081ed9d2622b4fb560f8b9d61c9eccc0 -size 2433074038 diff --git a/v02/demo_04.log b/v02/demo_04.log deleted file mode 100644 index 4a6d5b4e3f2e44e7594666d2f0744f559c67d7a0..0000000000000000000000000000000000000000 --- a/v02/demo_04.log +++ /dev/null @@ -1,280 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_04.hdf5 -Setting seed: 4 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 4 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.054290 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.452867 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.217 dir=-1.0 travel=0.433 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.217 dir=1.0 travel=0.433 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.4901, -0.7406, 1.13] -[SETUP] robot_w pos = [-0.1313, -0.7604, 0.908] yaw=0.000 -[SETUP] button_base = [0.6215, 0.0198, 0.222] -[SETUP] pre_press_b = [0.3, 0.0198, 0.332] -[SETUP] press_b = [0.6565, 0.0198, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.707, 0.248, 2.411, -2.659, 0.863, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5000 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5000 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.03359999880194664, -0.8769000172615051, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4700 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4148 force=0.0000 - 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] - 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] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3599 force=0.0000 - press step= 20 dist=0.3195m force=0.000N stall=0 q=[ 0.519 -0.796 2.467 -1.177 1.452 0.050] - press step= 40 dist=0.2827m force=0.000N stall=0 q=[ 0.535 -0.603 2.388 -1.202 1.355 0.062] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2868 force=0.0000 - press step= 60 dist=0.2457m force=0.000N stall=0 q=[ 0.537 -0.408 2.296 -1.228 1.274 0.073] - press step= 80 dist=0.2089m force=0.000N stall=0 q=[ 0.526 -0.216 2.189 -1.257 1.210 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2112 force=0.0000 - press step= 100 dist=0.1719m force=0.000N stall=0 q=[ 0.508 -0.031 2.071 -1.288 1.164 0.096] - press step= 120 dist=0.1349m force=0.000N stall=0 q=[ 0.484 0.145 1.940 -1.319 1.133 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1363 force=0.0000 - press step= 140 dist=0.0982m force=0.000N stall=0 q=[ 0.458 0.314 1.796 -1.351 1.115 0.119] - press step= 160 dist=0.0618m force=0.000N stall=0 q=[ 0.431 0.479 1.639 -1.382 1.109 0.131] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0638 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=56.504N dist=0.0472 - [PRESSED] force-contact at step 171 force=56.504N dist=0.0425m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0474 force=1.7162 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1151 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.012 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1892 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.245 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2643 force=0.0000 - pre-press reached at step 158 dist=0.0137m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.478 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3391 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.712 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3939 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.945 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4535 force=0.0000 - home reached at step 107 dist=0.0137m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.5028 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4998 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5000 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5000 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0425 m -[RESULT] final_dist : 0.5044 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_04.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024229.log -2026-04-23T02:42:29Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:29Z [303ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87076 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:42:30Z [862ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:42:30Z [1,340ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:30Z [1,354ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:30Z [1,360ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:30Z [1,366ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:30Z [1,367ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:30Z [1,368ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:42:30Z [1,534ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:42:32Z [3,500ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:42:32Z [3,601ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:42:32Z [3,602ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:42:36Z [7,185ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:46:10Z [220,963ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:46:10Z [221,035ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:46:10Z [221,122ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_05.hdf5 b/v02/demo_05.hdf5 deleted file mode 100644 index 61062ec9c84f3b5f7aca57aba5702ecf99c661cf..0000000000000000000000000000000000000000 --- a/v02/demo_05.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8fe6c851f8ce254daae84fc45629f8e1db351a1dcfc9a292c769543726fa65d0 -size 2266768809 diff --git a/v02/demo_05.log b/v02/demo_05.log deleted file mode 100644 index 4e50cdbe84e5bef20f39ff6fbb3280978afe575c..0000000000000000000000000000000000000000 --- a/v02/demo_05.log +++ /dev/null @@ -1,281 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_05.hdf5 -Setting seed: 5 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 5 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.339868 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.477058 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.277 dir=-1.0 travel=0.554 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.277 dir=1.0 travel=0.554 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.7961, -0.9929, 1.13] -[SETUP] robot_w pos = [0.1542, -0.9918, 0.908] yaw=0.000 -[SETUP] button_base = [0.6419, -0.0012, 0.222] -[SETUP] pre_press_b = [0.3, -0.0012, 0.332] -[SETUP] press_b = [0.6769, -0.0012, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.605, 0.245, 2.416, -2.661, 0.966, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5144 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5144 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.3192000091075897, -1.108199954032898, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4835 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4261 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 95 dist_to_pre=0.0138m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3677 force=0.0000 - press step= 20 dist=0.3375m force=0.000N stall=0 q=[ 0.484 -0.804 2.471 -1.175 1.418 0.050] - press step= 40 dist=0.3008m force=0.000N stall=0 q=[ 0.502 -0.607 2.391 -1.200 1.322 0.062] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2927 force=0.0000 - press step= 60 dist=0.2639m force=0.000N stall=0 q=[ 0.505 -0.408 2.296 -1.227 1.242 0.073] - press step= 80 dist=0.2271m force=0.000N stall=0 q=[ 0.495 -0.214 2.187 -1.256 1.180 0.085] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2173 force=0.0000 - press step= 100 dist=0.1902m force=0.000N stall=0 q=[ 0.476 -0.028 2.065 -1.287 1.137 0.096] - press step= 120 dist=0.1533m force=0.000N stall=0 q=[ 0.453 0.149 1.932 -1.318 1.109 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1427 force=0.0000 - press step= 140 dist=0.1166m force=0.000N stall=0 q=[ 0.427 0.319 1.786 -1.350 1.094 0.120] - press step= 160 dist=0.0803m force=0.000N stall=0 q=[ 0.400 0.483 1.626 -1.381 1.092 0.133] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0706 force=0.0000 - press step= 180 dist=0.0446m force=0.000N stall=0 q=[ 0.372 0.645 1.449 -1.410 1.101 0.147] -[AUTO_PRESS] PRESS TRIGGERED env0 force=2.572N dist=0.0470 - [PRESSED] force-contact at step 181 force=2.572N dist=0.0429m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0471 force=0.0851 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1070 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1800 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2544 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.146 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3294 force=0.0000 - pre-press reached at step 169 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.379 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3929 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.613 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4539 force=0.0000 - home reached at step 100 dist=0.0137m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.846 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.5207 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5138 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5145 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5144 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0429 m -[RESULT] final_dist : 0.5179 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_05.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024611.log -2026-04-23T02:46:11Z [287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:11Z [300ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87092 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:46:11Z [797ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:46:12Z [1,179ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:12Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:12Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:12Z [1,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:12Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:12Z [1,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:46:12Z [1,338ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:46:14Z [3,634ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:46:14Z [3,745ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:46:14Z [3,746ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:46:19Z [8,187ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:50:00Z [229,520ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:50:00Z [229,523ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:50:00Z [229,595ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:50:00Z [229,622ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_06.hdf5 b/v02/demo_06.hdf5 deleted file mode 100644 index be689b0416d209b9f2a6eac67bc81c2a4ad8e559..0000000000000000000000000000000000000000 --- a/v02/demo_06.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c54c6db6936450fe0f1c9a38fcd716d340423f0ca3424189f5c114c73c71b6d8 -size 2401095377 diff --git a/v02/demo_06.log b/v02/demo_06.log deleted file mode 100644 index ddd1a72f43f0de181c579004d5de3799624b2829..0000000000000000000000000000000000000000 --- a/v02/demo_06.log +++ /dev/null @@ -1,272 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_06.hdf5 -Setting seed: 6 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 6 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.343238 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.479247 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 19 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.284 dir=-1.0 travel=0.568 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.284 dir=1.0 travel=0.568 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8638, 0.9662, 1.13] -[SETUP] robot_w pos = [0.3096, 1.0054, 0.908] yaw=0.000 -[SETUP] button_base = [0.5542, -0.0392, 0.222] -[SETUP] pre_press_b = [0.3, -0.0392, 0.332] -[SETUP] press_b = [0.5892, -0.0392, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.401, 0.258, 2.395, -2.653, 1.17, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4275 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4275 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4745999872684479, 0.8889999985694885, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.3935 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3300 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0134m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2638 force=0.0000 - press step= 20 dist=0.2559m force=0.000N stall=0 q=[ 0.416 -0.826 2.489 -1.166 1.361 0.048] - press step= 40 dist=0.2192m force=0.000N stall=0 q=[ 0.439 -0.627 2.415 -1.188 1.268 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.1883 force=0.0000 - press step= 60 dist=0.1822m force=0.000N stall=0 q=[ 0.447 -0.422 2.326 -1.212 1.191 0.072] - press step= 80 dist=0.1454m force=0.000N stall=0 q=[ 0.440 -0.222 2.221 -1.238 1.133 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1139 force=0.0000 - press step= 100 dist=0.1084m force=0.000N stall=0 q=[ 0.423 -0.031 2.103 -1.268 1.094 0.096] - press step= 120 dist=0.0715m force=0.000N stall=0 q=[ 0.401 0.150 1.972 -1.298 1.069 0.108] -[AUTO_PRESS] PRESS TRIGGERED env0 force=6.877N dist=0.0460 - [PRESSED] force-contact at step 136 force=6.877N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0468 force=0.0000 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0642 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1367 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.163 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.2107 force=0.0000 - pre-press reached at step 123 dist=0.0142m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.397 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2831 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.630 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3494 force=0.0000 - home reached at step 89 dist=0.0148m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.863 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.4171 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4285 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4274 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4275 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.4300 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_06.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025001.log -2026-04-23T02:50:01Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:01Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87079 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:50:02Z [798ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:50:02Z [1,176ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:02Z [1,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:02Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:02Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:02Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:02Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:50:02Z [1,333ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:50:04Z [3,124ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:50:04Z [3,220ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:50:04Z [3,221ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:50:08Z [6,721ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:53:45Z [223,773ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:53:45Z [223,776ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:53:45Z [223,849ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:53:45Z [223,929ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_07.hdf5 b/v02/demo_07.hdf5 deleted file mode 100644 index 52001ed1cafe66fef06f47a0b64b4dfaaaa0fdc1..0000000000000000000000000000000000000000 --- a/v02/demo_07.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ea95b71d7c85edc48b512d063fe87bdc6947af36fa4a7429c2f66964d77a8e33 -size 2053377950 diff --git a/v02/demo_07.log b/v02/demo_07.log deleted file mode 100644 index 80f8b1ff285296d73712e8862e001a1394bd8c40..0000000000000000000000000000000000000000 --- a/v02/demo_07.log +++ /dev/null @@ -1,280 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_07.hdf5 -Setting seed: 7 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 7 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.108618 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.487348 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 15 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.456 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.456 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.678, -0.8049, 1.13] -[SETUP] robot_w pos = [0.0557, -0.8527, 0.908] yaw=0.000 -[SETUP] button_base = [0.6223, 0.0478, 0.222] -[SETUP] pre_press_b = [0.3, 0.0478, 0.332] -[SETUP] press_b = [0.6573, 0.0478, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.829, 0.264, 2.385, -2.649, 0.741, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5081 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5081 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.22059999406337738, -0.9690999984741211, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4793 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4265 force=0.0000 - 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] - 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] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3749 force=0.0000 - press step= 20 dist=0.3339m force=0.000N stall=0 q=[ 0.536 -0.846 2.483 -1.172 1.512 0.047] - press step= 40 dist=0.2971m force=0.000N stall=0 q=[ 0.557 -0.657 2.409 -1.196 1.413 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.3018 force=0.0000 - press step= 60 dist=0.2601m force=0.000N stall=0 q=[ 0.565 -0.464 2.321 -1.223 1.327 0.070] - press step= 80 dist=0.2232m force=0.000N stall=0 q=[ 0.560 -0.273 2.220 -1.251 1.258 0.081] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2260 force=0.0000 - press step= 100 dist=0.1862m force=0.000N stall=0 q=[ 0.545 -0.088 2.106 -1.281 1.206 0.092] - press step= 120 dist=0.1491m force=0.000N stall=0 q=[ 0.525 0.089 1.980 -1.313 1.168 0.103] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1508 force=0.0000 - press step= 140 dist=0.1123m force=0.000N stall=0 q=[ 0.502 0.260 1.842 -1.345 1.144 0.114] - press step= 160 dist=0.0757m force=0.000N stall=0 q=[ 0.476 0.425 1.690 -1.377 1.132 0.126] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0776 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=78.823N dist=0.0472 - [PRESSED] force-contact at step 179 force=78.823N dist=0.0425m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0473 force=0.9455 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1019 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1753 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2504 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.064 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3263 force=0.0000 - pre-press reached at step 158 dist=0.0143m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.298 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3805 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.531 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4360 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.764 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4947 force=0.0000 - home reached at step 118 dist=0.0131m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.998 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5095 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5080 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5081 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0425 m -[RESULT] final_dist : 0.5134 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_07.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025345.log -2026-04-23T02:53:46Z [285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:46Z [296ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87088 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:53:46Z [789ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:53:47Z [1,167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:47Z [1,181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:47Z [1,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:47Z [1,191ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:47Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:47Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:53:47Z [1,322ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:53:49Z [3,097ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:53:49Z [3,200ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:53:49Z [3,200ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:53:52Z [6,679ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:57:15Z [209,639ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:57:15Z [209,642ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:57:15Z [209,716ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:57:15Z [209,809ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_08.hdf5 b/v02/demo_08.hdf5 deleted file mode 100644 index 59e143786411f7e946c5a3b2ff3271191a48fb9d..0000000000000000000000000000000000000000 --- a/v02/demo_08.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f61f471209e3ca43bd740398f347650f4f53d34dc32fe49cb55a16787fe15e3e -size 2738901845 diff --git a/v02/demo_08.log b/v02/demo_08.log deleted file mode 100644 index cebefee18656c15be49a7e0a73fd24ccc2fcda1e..0000000000000000000000000000000000000000 --- a/v02/demo_08.log +++ /dev/null @@ -1,278 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_08.hdf5 -Setting seed: 8 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 8 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.331254 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.480164 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 10 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.250 dir=-1.0 travel=0.500 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.250 dir=1.0 travel=0.500 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.7607, 0.8762, 1.13] -[SETUP] robot_w pos = [0.1576, 0.9029, 0.908] yaw=0.000 -[SETUP] button_base = [0.6031, -0.0267, 0.222] -[SETUP] pre_press_b = [0.3, -0.0267, 0.332] -[SETUP] press_b = [0.6381, -0.0267, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.47, 0.251, 2.406, -2.657, 1.101, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4742 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4742 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.32249999046325684, 0.7864999771118164, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4414 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3800 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 87 dist_to_pre=0.0139m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3163 force=0.0000 - press step= 20 dist=0.3017m force=0.000N stall=0 q=[ 0.438 -0.822 2.483 -1.169 1.380 0.049] - press step= 40 dist=0.2651m force=0.000N stall=0 q=[ 0.460 -0.622 2.405 -1.193 1.285 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2404 force=0.0000 - press step= 60 dist=0.2282m force=0.000N stall=0 q=[ 0.466 -0.419 2.312 -1.219 1.207 0.073] - press step= 80 dist=0.1914m force=0.000N stall=0 q=[ 0.458 -0.221 2.204 -1.247 1.148 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1656 force=0.0000 - press step= 100 dist=0.1544m force=0.000N stall=0 q=[ 0.440 -0.032 2.083 -1.277 1.107 0.096] - press step= 120 dist=0.1175m force=0.000N stall=0 q=[ 0.417 0.147 1.950 -1.308 1.082 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0919 force=0.0000 - press step= 140 dist=0.0808m force=0.000N stall=0 q=[ 0.392 0.317 1.805 -1.340 1.070 0.120] - press step= 160 dist=0.0445m force=0.000N stall=0 q=[ 0.365 0.482 1.647 -1.371 1.069 0.133] -[AUTO_PRESS] PRESS TRIGGERED env0 force=71.494N dist=0.0458 - [PRESSED] force-contact at step 162 force=71.494N dist=0.0423m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0459 force=0.8426 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0833 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.093 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1560 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.327 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2296 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.560 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3044 force=0.0000 - pre-press reached at step 149 dist=0.0137m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.793 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3691 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4347 force=0.0000 - home reached at step 92 dist=0.0145m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4702 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4745 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4741 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4742 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0423 m -[RESULT] final_dist : 0.4769 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_08.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025716.log -2026-04-23T02:57:16Z [288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:16Z [301ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87076 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:57:17Z [789ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:57:17Z [1,170ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:17Z [1,183ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:17Z [1,188ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:17Z [1,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:17Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:17Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:57:17Z [1,327ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T02:57:19Z [3,109ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:57:19Z [3,208ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:57:19Z [3,209ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T02:57:23Z [6,776ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:01:17Z [241,002ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:01:17Z [241,005ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:01:17Z [241,079ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:01:17Z [241,146ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_09.hdf5 b/v02/demo_09.hdf5 deleted file mode 100644 index afded9b2a00170dd83c1c85bacb26cec6b1d29d4..0000000000000000000000000000000000000000 --- a/v02/demo_09.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:dba4fcdb189957dad2244119f240eed3327b3f9ec8455dcf000f9bbfda0e3ddd -size 2430212897 diff --git a/v02/demo_09.log b/v02/demo_09.log deleted file mode 100644 index e236027d9fa97849f6c1e35906ae11c0232b19cd..0000000000000000000000000000000000000000 --- a/v02/demo_09.log +++ /dev/null @@ -1,275 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_09.hdf5 -Setting seed: 9 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 9 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.302000 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.499495 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 19 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.284 dir=-1.0 travel=0.568 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.284 dir=1.0 travel=0.568 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8638, 0.9662, 1.13] -[SETUP] robot_w pos = [0.3004, 1.002, 0.908] yaw=0.000 -[SETUP] button_base = [0.5634, -0.0358, 0.222] -[SETUP] pre_press_b = [0.3, -0.0358, 0.332] -[SETUP] press_b = [0.5984, -0.0358, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.42, 0.256, 2.398, -2.654, 1.151, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4363 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4363 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.46540001034736633, 0.8855000138282776, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4027 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3397 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0150m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2739 force=0.0000 - press step= 20 dist=0.2658m force=0.000N stall=0 q=[ 0.419 -0.832 2.490 -1.166 1.369 0.048] - press step= 40 dist=0.2291m force=0.000N stall=0 q=[ 0.444 -0.633 2.416 -1.188 1.275 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.1983 force=0.0000 - press step= 60 dist=0.1922m force=0.000N stall=0 q=[ 0.452 -0.429 2.327 -1.212 1.198 0.072] - press step= 80 dist=0.1553m force=0.000N stall=0 q=[ 0.445 -0.229 2.222 -1.239 1.139 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1239 force=0.0000 - press step= 100 dist=0.1184m force=0.000N stall=0 q=[ 0.428 -0.038 2.103 -1.268 1.099 0.095] - press step= 120 dist=0.0814m force=0.000N stall=0 q=[ 0.406 0.142 1.973 -1.299 1.073 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0518 force=0.0000 - press step= 140 dist=0.0447m force=0.000N stall=0 q=[ 0.381 0.314 1.830 -1.331 1.061 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=63.869N dist=0.0457 - [PRESSED] force-contact at step 142 force=63.869N dist=0.0420m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0525 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1242 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.058 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1986 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.292 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2733 force=0.0000 - pre-press reached at step 128 dist=0.0146m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.525 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3386 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.758 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.4061 force=0.0000 - home reached at step 90 dist=0.0147m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.992 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4348 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4365 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4363 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4363 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0420 m -[RESULT] final_dist : 0.4390 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_09.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030118.log -2026-04-23T03:01:18Z [287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:18Z [301ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87084 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:01:19Z [805ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:01:19Z [1,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:19Z [1,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:19Z [1,211ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:19Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:19Z [1,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:19Z [1,217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:01:19Z [1,350ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T03:01:21Z [3,155ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:01:21Z [3,295ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:01:21Z [3,295ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:01:25Z [6,985ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:05:05Z [227,245ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:05:05Z [227,248ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:05:05Z [227,321ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:05:05Z [227,338ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_10.hdf5 b/v02/demo_10.hdf5 deleted file mode 100644 index 8c5cae8cff339c19ceec2936177ad7152b26da48..0000000000000000000000000000000000000000 --- a/v02/demo_10.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:299f9e96d7fada20a9b8cd7d16202c852c8fcb394eab684dd8353d97898082e9 -size 2224152457 diff --git a/v02/demo_10.log b/v02/demo_10.log deleted file mode 100644 index cd2cb8fa7df5987f23e4bec1e1c0ab00a05c3ba7..0000000000000000000000000000000000000000 --- a/v02/demo_10.log +++ /dev/null @@ -1,280 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_10.hdf5 -Setting seed: 10 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 10 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.080922 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.406045 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.230 dir=-1.0 travel=0.461 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.230 dir=1.0 travel=0.461 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.5989, -0.8324, 1.13] -[SETUP] robot_w pos = [-0.026, -0.8323, 0.908] yaw=0.000 -[SETUP] button_base = [0.6249, -0.0001, 0.222] -[SETUP] pre_press_b = [0.3, -0.0001, 0.332] -[SETUP] press_b = [0.6599, -0.0001, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.61, 0.245, 2.416, -2.661, 0.961, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4989 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4989 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.1388999968767166, -0.9487000107765198, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4679 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4104 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 95 dist_to_pre=0.0144m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3520 force=0.0000 - press step= 20 dist=0.3219m force=0.000N stall=0 q=[ 0.485 -0.807 2.473 -1.174 1.421 0.050] - press step= 40 dist=0.2851m force=0.000N stall=0 q=[ 0.503 -0.610 2.394 -1.199 1.325 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2770 force=0.0000 - press step= 60 dist=0.2482m force=0.000N stall=0 q=[ 0.507 -0.411 2.300 -1.225 1.245 0.073] - press step= 80 dist=0.2114m force=0.000N stall=0 q=[ 0.497 -0.217 2.192 -1.254 1.183 0.085] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2016 force=0.0000 - press step= 100 dist=0.1744m force=0.000N stall=0 q=[ 0.479 -0.030 2.072 -1.285 1.139 0.096] - press step= 120 dist=0.1375m force=0.000N stall=0 q=[ 0.455 0.147 1.939 -1.316 1.111 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1271 force=0.0000 - press step= 140 dist=0.1008m force=0.000N stall=0 q=[ 0.429 0.317 1.795 -1.348 1.095 0.119] - press step= 160 dist=0.0645m force=0.000N stall=0 q=[ 0.402 0.481 1.636 -1.379 1.092 0.132] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0556 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=75.691N dist=0.0467 - [PRESSED] force-contact at step 173 force=75.691N dist=0.0427m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0499 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1214 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.047 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1956 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.280 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2704 force=0.0000 - pre-press reached at step 160 dist=0.0136m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.513 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3440 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.747 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4025 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.980 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4647 force=0.0000 - home reached at step 100 dist=0.0136m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4953 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4992 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4989 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.4989 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0427 m -[RESULT] final_dist : 0.5025 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_10.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030506.log -2026-04-23T03:05:06Z [293ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:06Z [305ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87004 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:05:07Z [808ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:05:07Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:07Z [1,212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:07Z [1,217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:07Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:07Z [1,223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:07Z [1,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:05:07Z [1,356ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T03:05:09Z [3,152ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:05:09Z [3,258ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:05:09Z [3,259ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:05:13Z [6,763ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:08:50Z [223,833ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:08:50Z [223,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:08:50Z [223,836ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:08:50Z [223,910ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:08:50Z [223,970ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_11.hdf5 b/v02/demo_11.hdf5 deleted file mode 100644 index bf032d1f8a068d4c3edd7cb2380abf5d44662a9e..0000000000000000000000000000000000000000 --- a/v02/demo_11.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9dfcc6b6c12827b147c7b58e8047d99a0274791729b1c7de6e9ca91db5e39966 -size 2631741744 diff --git a/v02/demo_11.log b/v02/demo_11.log deleted file mode 100644 index fc9558765d974e663ee930a9162b909f08b29c55..0000000000000000000000000000000000000000 --- a/v02/demo_11.log +++ /dev/null @@ -1,278 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_11.hdf5 -Setting seed: 11 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 11 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.031822 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.415575 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.457 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.457 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6839, 0.8376, 1.13] -[SETUP] robot_w pos = [0.0614, 0.8455, 0.908] yaw=0.000 -[SETUP] button_base = [0.6225, -0.008, 0.222] -[SETUP] pre_press_b = [0.3, -0.008, 0.332] -[SETUP] press_b = [0.6575, -0.008, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.57, 0.245, 2.415, -2.661, 1.001, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4952 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4952 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.22630000114440918, 0.7290999889373779, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4637 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4052 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0133m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3453 force=0.0000 - press step= 20 dist=0.3189m force=0.000N stall=0 q=[ 0.472 -0.808 2.474 -1.173 1.408 0.050] - press step= 40 dist=0.2823m force=0.000N stall=0 q=[ 0.491 -0.610 2.395 -1.198 1.312 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2699 force=0.0000 - press step= 60 dist=0.2454m force=0.000N stall=0 q=[ 0.495 -0.410 2.301 -1.224 1.233 0.073] - press step= 80 dist=0.2085m force=0.000N stall=0 q=[ 0.486 -0.215 2.192 -1.253 1.172 0.085] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1947 force=0.0000 - press step= 100 dist=0.1716m force=0.000N stall=0 q=[ 0.467 -0.028 2.071 -1.283 1.129 0.096] - press step= 120 dist=0.1347m force=0.000N stall=0 q=[ 0.444 0.150 1.939 -1.315 1.102 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1204 force=0.0000 - press step= 140 dist=0.0980m force=0.000N stall=0 q=[ 0.418 0.320 1.793 -1.347 1.088 0.120] - press step= 160 dist=0.0617m force=0.000N stall=0 q=[ 0.391 0.484 1.634 -1.378 1.086 0.133] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0495 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=60.757N dist=0.0466 - [PRESSED] force-contact at step 171 force=60.757N dist=0.0426m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0570 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1277 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2021 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.117 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2767 force=0.0000 - pre-press reached at step 159 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.350 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3479 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.583 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4087 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.817 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4724 force=0.0000 - home reached at step 98 dist=0.0136m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4956 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4952 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4952 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0426 m -[RESULT] final_dist : 0.4985 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_11.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030850.log -2026-04-23T03:08:51Z [294ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:51Z [306ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87066 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:08:51Z [815ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:08:52Z [1,206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:52Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:52Z [1,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:52Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:52Z [1,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:52Z [1,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:08:52Z [1,362ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T03:08:54Z [3,157ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:08:54Z [3,272ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:08:54Z [3,273ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:08:57Z [6,936ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:12:52Z [241,826ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:12:52Z [241,829ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:12:52Z [241,902ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:12:52Z [241,942ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_12.hdf5 b/v02/demo_12.hdf5 deleted file mode 100644 index b3b266029bea5174f22d4cf04a8a33e63655bc3d..0000000000000000000000000000000000000000 --- a/v02/demo_12.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c66ff797c36515c1a2309fbe77e0901dab20bb3c2899221cfd722bfff6ba12f7 -size 2595606087 diff --git a/v02/demo_12.log b/v02/demo_12.log deleted file mode 100644 index fec2c269d56c8a8f6aab8068cdf321b40f769617..0000000000000000000000000000000000000000 --- a/v02/demo_12.log +++ /dev/null @@ -1,276 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_12.hdf5 -Setting seed: 12 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 12 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.325746 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.497562 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 13 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.266 dir=-1.0 travel=0.531 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.266 dir=1.0 travel=0.531 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8442, 0.973, 1.13] -[SETUP] robot_w pos = [0.2408, 1.0215, 0.908] yaw=0.000 -[SETUP] button_base = [0.6034, -0.0485, 0.222] -[SETUP] pre_press_b = [0.3, -0.0485, 0.332] -[SETUP] press_b = [0.6384, -0.0485, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.349, 0.265, 2.384, -2.649, 1.222, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4717 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4717 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4056999981403351, 0.9050999879837036, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4375 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3729 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 81 dist_to_pre=0.0148m -[PHASE] press (micro-thrust): up to 400 steps - press step= 20 dist=0.3034m force=0.000N stall=0 q=[ 0.399 -0.830 2.488 -1.166 1.344 0.048] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3048 force=0.0000 - press step= 40 dist=0.2668m force=0.000N stall=0 q=[ 0.423 -0.628 2.409 -1.190 1.251 0.060] - press step= 60 dist=0.2299m force=0.000N stall=0 q=[ 0.431 -0.423 2.316 -1.215 1.175 0.072] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2299 force=0.0000 - press step= 80 dist=0.1931m force=0.000N stall=0 q=[ 0.424 -0.223 2.206 -1.242 1.118 0.085] - press step= 100 dist=0.1562m force=0.000N stall=0 q=[ 0.407 -0.032 2.085 -1.272 1.081 0.096] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1554 force=0.0000 - press step= 120 dist=0.1193m force=0.000N stall=0 q=[ 0.385 0.147 1.951 -1.303 1.058 0.108] - press step= 140 dist=0.0827m force=0.000N stall=0 q=[ 0.360 0.318 1.805 -1.335 1.049 0.121] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0823 force=0.0000 - press step= 160 dist=0.0464m force=0.000N stall=0 q=[ 0.334 0.482 1.646 -1.366 1.051 0.134] -[AUTO_PRESS] PRESS TRIGGERED env0 force=64.567N dist=0.0451 - [PRESSED] force-contact at step 163 force=64.567N dist=0.0422m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0452 force=0.9271 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0916 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1636 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.198 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2371 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.432 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3118 force=0.0000 - pre-press reached at step 149 dist=0.0145m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.665 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3788 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.898 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4477 force=0.0000 - home reached at step 87 dist=0.0149m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4726 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4716 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4717 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0422 m -[RESULT] final_dist : 0.4736 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_12.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031253.log -2026-04-23T03:12:53Z [293ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:53Z [305ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87072 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:12:54Z [813ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:12:54Z [1,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:54Z [1,209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:54Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:54Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:54Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:54Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:12:54Z [1,353ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T03:12:56Z [3,178ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:12:56Z [3,281ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:12:56Z [3,281ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:13:00Z [6,859ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:16:52Z [238,461ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:16:52Z [238,464ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:16:52Z [238,537ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:16:52Z [238,556ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_13.hdf5 b/v02/demo_13.hdf5 deleted file mode 100644 index bef6ceb67cdee4714d2a5ca1dc39ee5f0fed18f7..0000000000000000000000000000000000000000 --- a/v02/demo_13.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:539925e3d323b989f837e77e6915eed5f8764ce7c1f568d6eba4e50b3372dc26 -size 2540242343 diff --git a/v02/demo_13.log b/v02/demo_13.log deleted file mode 100644 index 0e076c74e89151f51aca844f6f3e2c1c147c3cc0..0000000000000000000000000000000000000000 --- a/v02/demo_13.log +++ /dev/null @@ -1,283 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_13.hdf5 -Setting seed: 13 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 13 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.349752 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.480888 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 12 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.457 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.457 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.5021, -0.7599, 1.13] -[SETUP] robot_w pos = [-0.1445, -0.8071, 0.908] yaw=0.000 -[SETUP] button_base = [0.6466, 0.0473, 0.222] -[SETUP] pre_press_b = [0.3, 0.0473, 0.332] -[SETUP] press_b = [0.6816, 0.0473, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.827, 0.264, 2.386, -2.649, 0.744, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5299 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5299 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.020400000736117363, -0.9236000180244446, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.5014 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4491 force=0.0000 - 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] - 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] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3977 force=0.0000 - press step= 20 dist=0.3567m force=0.000N stall=0 q=[ 0.536 -0.844 2.481 -1.173 1.510 0.048] - press step= 40 dist=0.3199m force=0.000N stall=0 q=[ 0.556 -0.655 2.405 -1.198 1.410 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.3246 force=0.0000 - press step= 60 dist=0.2829m force=0.000N stall=0 q=[ 0.563 -0.462 2.316 -1.225 1.324 0.070] - press step= 80 dist=0.2460m force=0.000N stall=0 q=[ 0.558 -0.271 2.213 -1.253 1.255 0.081] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2488 force=0.0000 - press step= 100 dist=0.2090m force=0.000N stall=0 q=[ 0.543 -0.087 2.098 -1.284 1.203 0.092] - press step= 120 dist=0.1720m force=0.000N stall=0 q=[ 0.522 0.091 1.971 -1.315 1.166 0.103] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1735 force=0.0000 - press step= 140 dist=0.1352m force=0.000N stall=0 q=[ 0.498 0.260 1.832 -1.348 1.143 0.115] - press step= 160 dist=0.0987m force=0.000N stall=0 q=[ 0.473 0.426 1.679 -1.379 1.131 0.127] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0999 force=0.0000 - press step= 180 dist=0.0627m force=0.000N stall=0 q=[ 0.446 0.588 1.509 -1.409 1.131 0.140] -[AUTO_PRESS] PRESS TRIGGERED env0 force=85.541N dist=0.0473 - [PRESSED] force-contact at step 192 force=85.541N dist=0.0430m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0476 force=0.1031 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.0773 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1505 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.157 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2253 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.391 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3005 force=0.0000 - pre-press reached at step 171 dist=0.0138m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.624 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3709 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.858 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4227 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4790 force=0.0000 - home reached at step 117 dist=0.0135m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5366 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5293 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5299 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=801 env0 dist=0.5299 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0430 m -[RESULT] final_dist : 0.5350 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_13.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031652.log -2026-04-23T03:16:53Z [296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:53Z [307ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87085 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:16:53Z [807ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:16:53Z [1,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:53Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:53Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:53Z [1,218ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:53Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:53Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:16:54Z [1,352ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T03:16:56Z [3,386ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:16:56Z [3,495ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:16:56Z [3,495ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:17:00Z [7,774ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,870ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:01Z [248,871ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:21:01Z [248,873ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:21:01Z [248,952ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:21:01Z [248,967ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_14.hdf5 b/v02/demo_14.hdf5 deleted file mode 100644 index 62a18478537bad738745ef1208063bfb54499393..0000000000000000000000000000000000000000 --- a/v02/demo_14.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f17cde91b064c31eb2e57bae5a0114a91af9ac116b497a83fdd3ae48f2c4735c -size 1719554948 diff --git a/v02/demo_14.log b/v02/demo_14.log deleted file mode 100644 index 271072f884a0b783ccfa947a427f5e47de4386d0..0000000000000000000000000000000000000000 --- a/v02/demo_14.log +++ /dev/null @@ -1,272 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_14.hdf5 -Setting seed: 14 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 14 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.299115 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.483767 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 16 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.222 dir=-1.0 travel=0.444 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.222 dir=1.0 travel=0.444 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.4418, -0.7422, 1.13] -[SETUP] robot_w pos = [-0.109, -0.7232, 0.908] yaw=0.000 -[SETUP] button_base = [0.5508, -0.019, 0.222] -[SETUP] pre_press_b = [0.3, -0.019, 0.332] -[SETUP] press_b = [0.5858, -0.019, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.511, 0.248, 2.411, -2.659, 1.059, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4276 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4276 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.05590000003576279, -0.8396000266075134, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.3948 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3341 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0144m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2717 force=0.0000 - press step= 20 dist=0.2531m force=0.000N stall=0 q=[ 0.450 -0.824 2.487 -1.168 1.397 0.048] - press step= 40 dist=0.2164m force=0.000N stall=0 q=[ 0.472 -0.628 2.415 -1.190 1.302 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.1957 force=0.0000 - press step= 60 dist=0.1794m force=0.000N stall=0 q=[ 0.479 -0.426 2.327 -1.214 1.223 0.072] - press step= 80 dist=0.1425m force=0.000N stall=0 q=[ 0.472 -0.228 2.224 -1.241 1.163 0.083] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1211 force=0.0000 - press step= 100 dist=0.1055m force=0.000N stall=0 q=[ 0.455 -0.038 2.107 -1.270 1.120 0.095] - press step= 120 dist=0.0685m force=0.000N stall=0 q=[ 0.432 0.143 1.978 -1.301 1.093 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0489 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=76.241N dist=0.0464 - [PRESSED] force-contact at step 135 force=76.241N dist=0.0422m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0569 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.169 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1291 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.403 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.2038 force=0.0000 - pre-press reached at step 122 dist=0.0135m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.636 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2768 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.869 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3393 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.4049 force=0.0000 - home reached at step 94 dist=0.0146m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4285 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4275 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4276 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0422 m -[RESULT] final_dist : 0.4311 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_14.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_032102.log -2026-04-23T03:21:02Z [295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:02Z [309ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87105 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:21:03Z [823ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:21:03Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:03Z [1,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:03Z [1,240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:03Z [1,245ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:03Z [1,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:03Z [1,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:21:03Z [1,379ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. -2026-04-23T03:21:05Z [3,211ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:21:05Z [3,314ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:21:05Z [3,315ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:21:09Z [6,890ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -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 -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 -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) -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:24:03Z [181,331ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:24:03Z [181,406ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:24:03Z [181,508ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_15.hdf5 b/v02/demo_15.hdf5 deleted file mode 100644 index fe60ebfa8568588c0a18a6ff74fcd777e8bb4b99..0000000000000000000000000000000000000000 --- a/v02/demo_15.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:220517fe9d88330f2412945cd7069147efe076a6bd3791e10392f5d9179136b7 -size 2166581069 diff --git a/v02/demo_15.log b/v02/demo_15.log deleted file mode 100644 index 903e95ded89fa76b7ad6410e31c29a73f25faced..0000000000000000000000000000000000000000 --- a/v02/demo_15.log +++ /dev/null @@ -1,302 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_15.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-33-34.log -====================================================================================== - -02:33:34 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023318.log -2026-04-23T02:33:18Z [344ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:18Z [358ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80127 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:33:18Z [808ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:33:19Z [1,108ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:19Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:19Z [1,127ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:19Z [1,132ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:19Z [1,133ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:19Z [1,133ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:33:19Z [1,335ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:33:27Z [8,824ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:33:27Z [9,062ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:33:27Z [9,063ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:33:29Z [10,936ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 - -2026-04-23T02:33:35Z [17,673ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:33:35Z [17,677ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:33:35Z [17,678ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 15 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.038175 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.715344 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.297 dir=-1.0 travel=0.593 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.297 dir=1.0 travel=0.593 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.9593, 1.0567, 1.13] -[SETUP] robot_w pos = [0.3732, 1.0791, 0.908] yaw=0.000 -[SETUP] button_base = [0.5862, -0.0225, 0.222] -[SETUP] pre_press_b = [0.3, -0.0225, 0.332] -[SETUP] press_b = [0.6212, -0.0225, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.493, 0.249, 2.409, -2.658, 1.078, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4592 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4592 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.538100004196167, 0.9627000093460083, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4327 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3703 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 91 dist_to_pre=0.0136m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3117 force=0.0000 - press step= 20 dist=0.2903m force=0.000N stall=0 q=[ 0.444 -0.849 2.497 -1.166 1.402 0.047] - press step= 40 dist=0.2538m force=0.000N stall=0 q=[ 0.470 -0.652 2.424 -1.189 1.304 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2373 force=0.0000 - press step= 60 dist=0.2169m force=0.000N stall=0 q=[ 0.480 -0.450 2.335 -1.214 1.219 0.071] - press step= 80 dist=0.1799m force=0.000N stall=0 q=[ 0.475 -0.249 2.231 -1.241 1.153 0.083] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1620 force=0.0000 - press step= 100 dist=0.1427m force=0.000N stall=0 q=[ 0.458 -0.056 2.113 -1.271 1.106 0.095] - press step= 120 dist=0.1056m force=0.000N stall=0 q=[ 0.435 0.127 1.982 -1.302 1.076 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0880 force=0.0000 - press step= 140 dist=0.0688m force=0.000N stall=0 q=[ 0.409 0.300 1.838 -1.334 1.060 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=2.406N dist=0.0460 - [PRESSED] force-contact at step 155 force=2.406N dist=0.0416m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0461 force=2.9845 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0828 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1548 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.146 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2278 force=0.0000 - pre-press reached at step 145 dist=0.0136m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.379 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3018 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.613 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3642 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.846 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4287 force=0.0000 - home reached at step 93 dist=0.0142m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4592 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4592 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4592 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4592 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0416 m -[RESULT] final_dist : 0.4623 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_15.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:36:53Z [214,925ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:36:53Z [214,927ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:36:53Z [214,928ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:36:53Z [214,999ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:36:53Z [215,077ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_16.hdf5 b/v02/demo_16.hdf5 deleted file mode 100644 index f254ea376c7603ff588beb0cc8bd3aea45aa8093..0000000000000000000000000000000000000000 --- a/v02/demo_16.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:49b1525d33218d7ab627bf428060b9f3b29d0c172126b78a7672167fb10f2f64 -size 1909877927 diff --git a/v02/demo_16.log b/v02/demo_16.log deleted file mode 100644 index c09839878878b5bb297a830356bb45b34441f982..0000000000000000000000000000000000000000 --- a/v02/demo_16.log +++ /dev/null @@ -1,300 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_16.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-37-08.log -====================================================================================== - -02:37:08 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_023653.log -2026-04-23T02:36:54Z [348ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:54Z [360ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80153 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:36:54Z [794ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:36:54Z [1,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:54Z [1,110ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:54Z [1,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:55Z [1,119ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:55Z [1,120ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:55Z [1,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:36:55Z [1,322ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:37:02Z [8,815ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:37:02Z [9,068ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:37:02Z [9,068ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:37:04Z [10,943ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:37:10Z [16,282ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:37:10Z [16,286ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 16 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.283331 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.560176 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 11 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.214 dir=-1.0 travel=0.428 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.214 dir=1.0 travel=0.428 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6427, 0.8257, 1.13] -[SETUP] robot_w pos = [0.0881, 0.8396, 0.908] yaw=0.000 -[SETUP] button_base = [0.5546, -0.0139, 0.222] -[SETUP] pre_press_b = [0.3, -0.0139, 0.332] -[SETUP] press_b = [0.5896, -0.0139, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.539, 0.247, 2.413, -2.66, 1.032, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4320 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4320 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.2529999911785126, 0.7232000231742859, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4056 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3440 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0146m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2867 force=0.0000 - press step= 20 dist=0.2616m force=0.000N stall=0 q=[ 0.457 -0.852 2.499 -1.165 1.420 0.047] - press step= 40 dist=0.2250m force=0.000N stall=0 q=[ 0.483 -0.658 2.430 -1.187 1.322 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2126 force=0.0000 - press step= 60 dist=0.1881m force=0.000N stall=0 q=[ 0.493 -0.457 2.345 -1.211 1.236 0.070] - press step= 80 dist=0.1510m force=0.000N stall=0 q=[ 0.489 -0.257 2.244 -1.238 1.169 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1374 force=0.0000 - press step= 100 dist=0.1138m force=0.000N stall=0 q=[ 0.473 -0.063 2.129 -1.267 1.120 0.094] - press step= 120 dist=0.0767m force=0.000N stall=0 q=[ 0.450 0.121 2.001 -1.298 1.087 0.106] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0639 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=196.720N dist=0.0457 - press step= 140 dist=0.0410m force=196.720N stall=0 q=[ 0.424 0.291 1.863 -1.328 1.064 0.107] - [PRESSED] force-contact at step 140 force=196.720N dist=0.0410m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0456 force=9.7023 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1058 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1785 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.222 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2526 force=0.0000 - pre-press reached at step 129 dist=0.0135m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.455 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3173 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.688 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3802 force=0.0000 - home reached at step 96 dist=0.0141m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.922 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4317 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4320 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4320 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4320 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0410 m -[RESULT] final_dist : 0.4356 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_16.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:40:11Z [197,911ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:40:11Z [197,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:40:11Z [197,914ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:40:11Z [197,985ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:40:11Z [198,070ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_17.hdf5 b/v02/demo_17.hdf5 deleted file mode 100644 index df90daf8c7878840e6730a4511f4b83bc4330c5b..0000000000000000000000000000000000000000 --- a/v02/demo_17.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:817cfb7660f2eb63fc4c16aec13d1983d4dd547729abd4a11fb7012e6d3233be -size 2034023093 diff --git a/v02/demo_17.log b/v02/demo_17.log deleted file mode 100644 index 800b402c2f109c5a6079d4febf0c74a018a7078d..0000000000000000000000000000000000000000 --- a/v02/demo_17.log +++ /dev/null @@ -1,302 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_17.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-40-27.log -====================================================================================== - -02:40:27 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024012.log -2026-04-23T02:40:12Z [351ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:12Z [367ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80151 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:40:13Z [865ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:40:13Z [1,250ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:13Z [1,264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:13Z [1,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:13Z [1,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:13Z [1,277ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:13Z [1,278ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:40:14Z [1,537ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:40:21Z [9,310ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:40:22Z [9,563ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:40:22Z [9,564ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:40:24Z [11,700ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:40:28Z [16,411ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:40:28Z [16,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:40:28Z [16,416ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 17 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 0.995929 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.510066 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 14 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.285 dir=-1.0 travel=0.571 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.285 dir=1.0 travel=0.571 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8796, -1.0073, 1.13] -[SETUP] robot_w pos = [0.3228, -1.036, 0.908] yaw=0.000 -[SETUP] button_base = [0.5568, 0.0287, 0.222] -[SETUP] pre_press_b = [0.3, 0.0287, 0.332] -[SETUP] press_b = [0.5918, 0.0287, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.748, 0.252, 2.405, -2.657, 0.823, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4441 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4441 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4878000020980835, -1.152500033378601, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4194 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3626 force=0.0000 - 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] - 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] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3085 force=0.0000 - press step= 20 dist=0.2723m force=0.000N stall=0 q=[ 0.514 -0.868 2.501 -1.166 1.499 0.046] - press step= 40 dist=0.2356m force=0.000N stall=0 q=[ 0.539 -0.681 2.434 -1.188 1.400 0.057] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2399 force=0.0000 - press step= 60 dist=0.1987m force=0.000N stall=0 q=[ 0.551 -0.486 2.352 -1.212 1.310 0.069] - press step= 80 dist=0.1616m force=0.000N stall=0 q=[ 0.549 -0.291 2.256 -1.239 1.237 0.080] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1642 force=0.0000 - press step= 100 dist=0.1243m force=0.000N stall=0 q=[ 0.536 -0.100 2.146 -1.268 1.181 0.091] - press step= 120 dist=0.0871m force=0.000N stall=0 q=[ 0.516 0.083 2.023 -1.299 1.142 0.103] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0895 force=0.0000 - press step= 140 dist=0.0502m force=0.000N stall=0 q=[ 0.491 0.257 1.886 -1.332 1.116 0.114] -[AUTO_PRESS] PRESS TRIGGERED env0 force=34.750N dist=0.0469 - [PRESSED] force-contact at step 145 force=34.750N dist=0.0411m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0471 force=11.8489 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.227 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0848 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.461 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1578 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.694 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2321 force=0.0000 - pre-press reached at step 129 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.928 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2990 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3543 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4138 force=0.0000 - home reached at step 111 dist=0.0139m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4441 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4441 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4441 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4441 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0411 m -[RESULT] final_dist : 0.4495 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_17.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:43:53Z [221,415ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:43:53Z [221,416ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:43:53Z [221,418ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:43:53Z [221,419ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:43:54Z [221,490ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:43:54Z [221,597ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_18.hdf5 b/v02/demo_18.hdf5 deleted file mode 100644 index 7253fb1473a27c4fd19d71012057eaaa297e0aed..0000000000000000000000000000000000000000 --- a/v02/demo_18.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3c9bb31c3400a297778ec2878d3de33caf01b21829ab0f3da5c542ff506b9e06 -size 2714621346 diff --git a/v02/demo_18.log b/v02/demo_18.log deleted file mode 100644 index 88542f2a3d74f7c46c51e02a5883147477b1d135..0000000000000000000000000000000000000000 --- a/v02/demo_18.log +++ /dev/null @@ -1,302 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_18.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-44-09.log -====================================================================================== - -02:44:09 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024354.log -2026-04-23T02:43:55Z [473ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:55Z [486ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 79984 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:43:55Z [980ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:43:56Z [1,372ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:56Z [1,386ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:56Z [1,392ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:56Z [1,397ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:56Z [1,398ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:56Z [1,399ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:43:56Z [1,659ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:44:04Z [9,417ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:44:04Z [9,657ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:44:04Z [9,658ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:44:06Z [11,534ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:44:11Z [16,605ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:44:11Z [16,609ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 18 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.313518 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.571340 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.266 dir=-1.0 travel=0.532 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.266 dir=1.0 travel=0.532 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8138, 0.9465, 1.13] -[SETUP] robot_w pos = [0.2456, 0.9113, 0.908] yaw=0.000 -[SETUP] button_base = [0.5682, 0.0352, 0.222] -[SETUP] pre_press_b = [0.3, 0.0352, 0.332] -[SETUP] press_b = [0.6032, 0.0352, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.777, 0.256, 2.399, -2.655, 0.794, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4561 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4561 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4106000065803528, 0.7949000000953674, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4316 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3757 force=0.0000 - 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] - 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] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3225 force=0.0000 - press step= 20 dist=0.2860m force=0.000N stall=0 q=[ 0.518 -0.879 2.503 -1.165 1.513 0.045] - press step= 40 dist=0.2494m force=0.000N stall=0 q=[ 0.544 -0.692 2.436 -1.187 1.413 0.057] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2539 force=0.0000 - press step= 60 dist=0.2125m force=0.000N stall=0 q=[ 0.557 -0.498 2.354 -1.212 1.322 0.068] - press step= 80 dist=0.1754m force=0.000N stall=0 q=[ 0.556 -0.303 2.258 -1.239 1.248 0.079] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1782 force=0.0000 - press step= 100 dist=0.1382m force=0.000N stall=0 q=[ 0.544 -0.113 2.149 -1.268 1.191 0.091] - press step= 120 dist=0.1010m force=0.000N stall=0 q=[ 0.524 0.070 2.026 -1.300 1.150 0.102] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1031 force=0.0000 - press step= 140 dist=0.0640m force=0.000N stall=0 q=[ 0.500 0.244 1.890 -1.332 1.123 0.113] -[AUTO_PRESS] PRESS TRIGGERED env0 force=118.426N dist=0.0464 - [PRESSED] force-contact at step 153 force=118.426N dist=0.0407m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0466 force=12.6883 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0699 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1425 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2166 force=0.0000 - pre-press reached at step 135 dist=0.0141m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.006 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2909 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.239 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3441 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.473 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4015 force=0.0000 - home reached at step 113 dist=0.0146m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.706 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4555 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.939 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4561 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4561 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4561 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0407 m -[RESULT] final_dist : 0.4616 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_18.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:48:07Z [252,523ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:48:07Z [252,524ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:48:07Z [252,526ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:48:07Z [252,527ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:48:07Z [252,597ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:48:07Z [252,626ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_19.hdf5 b/v02/demo_19.hdf5 deleted file mode 100644 index 41c797702409b01eca412d6da2ae0838330a6769..0000000000000000000000000000000000000000 --- a/v02/demo_19.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b5f21e1fa3c345c731eded045b302c658feee443b1b7627ddf5b63806adf84fa -size 2287880620 diff --git a/v02/demo_19.log b/v02/demo_19.log deleted file mode 100644 index 709c6356985007afb9b89ff85a01b80f08012672..0000000000000000000000000000000000000000 --- a/v02/demo_19.log +++ /dev/null @@ -1,300 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_19.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-48-22.log -====================================================================================== - -02:48:22 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_024808.log -2026-04-23T02:48:08Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:08Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80162 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:48:08Z [791ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:48:09Z [1,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:09Z [1,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:09Z [1,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:09Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:09Z [1,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:09Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:48:09Z [1,326ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:48:16Z [8,800ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:48:17Z [9,022ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:48:17Z [9,026ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:48:19Z [11,140ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:48:23Z [15,865ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:48:23Z [15,869ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:48:23Z [15,870ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 19 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.015770 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.508720 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.237 dir=-1.0 travel=0.473 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.237 dir=1.0 travel=0.473 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.4409, 0.7423, 1.13] -[SETUP] robot_w pos = [-0.1229, 0.7591, 0.908] yaw=0.000 -[SETUP] button_base = [0.5638, -0.0169, 0.222] -[SETUP] pre_press_b = [0.3, -0.0169, 0.332] -[SETUP] press_b = [0.5988, -0.0169, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.523, 0.247, 2.412, -2.659, 1.048, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4398 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4398 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.042100001126527786, 0.6427000164985657, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4134 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3515 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 92 dist_to_pre=0.0148m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2937 force=0.0000 - press step= 20 dist=0.2704m force=0.000N stall=0 q=[ 0.451 -0.854 2.500 -1.165 1.415 0.047] - press step= 40 dist=0.2338m force=0.000N stall=0 q=[ 0.478 -0.659 2.429 -1.187 1.316 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2194 force=0.0000 - press step= 60 dist=0.1970m force=0.000N stall=0 q=[ 0.488 -0.458 2.343 -1.211 1.231 0.070] - press step= 80 dist=0.1599m force=0.000N stall=0 q=[ 0.484 -0.257 2.242 -1.238 1.164 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1442 force=0.0000 - press step= 100 dist=0.1227m force=0.000N stall=0 q=[ 0.468 -0.063 2.126 -1.267 1.115 0.094] - press step= 120 dist=0.0856m force=0.000N stall=0 q=[ 0.445 0.121 1.997 -1.299 1.084 0.106] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0705 force=0.0000 - press step= 140 dist=0.0487m force=0.000N stall=0 q=[ 0.419 0.294 1.854 -1.331 1.066 0.118] -[AUTO_PRESS] PRESS TRIGGERED env0 force=4.508N dist=0.0463 - [PRESSED] force-contact at step 144 force=4.508N dist=0.0414m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0463 force=4.2647 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1010 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.012 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1735 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.245 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2471 force=0.0000 - pre-press reached at step 133 dist=0.0143m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.478 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3144 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.712 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3772 force=0.0000 - home reached at step 95 dist=0.0147m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.945 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4387 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4398 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4398 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4398 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0414 m -[RESULT] final_dist : 0.4432 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_19.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,897ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:51:55Z [227,898ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:51:55Z [227,900ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:51:55Z [227,901ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:51:56Z [227,971ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:51:56Z [227,991ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_20.hdf5 b/v02/demo_20.hdf5 deleted file mode 100644 index 05ca36dfeaf76900c6cae0ac2e61b9c6ba05e461..0000000000000000000000000000000000000000 --- a/v02/demo_20.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f68796f7a9cf69ab1c2b6a410fe1119c4839207b9329775387e36c2b8d6e44ec -size 2221553957 diff --git a/v02/demo_20.log b/v02/demo_20.log deleted file mode 100644 index 7cc8cd18ae0ad6bfb1cc5a01418bdda5cfeea76c..0000000000000000000000000000000000000000 --- a/v02/demo_20.log +++ /dev/null @@ -1,304 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_20.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-52-10.log -====================================================================================== - -02:52:11 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025156.log -2026-04-23T02:51:56Z [350ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:56Z [364ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80169 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:51:57Z [863ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:51:57Z [1,245ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:57Z [1,259ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:57Z [1,265ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:57Z [1,271ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:57Z [1,272ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:57Z [1,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:51:58Z [1,531ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:52:05Z [9,296ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:52:06Z [9,555ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:52:06Z [9,558ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:52:08Z [11,462ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:52:13Z [16,448ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:52:13Z [16,452ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:52:13Z [16,452ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:52:13Z [16,452ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:52:13Z [16,453ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 20 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.288927 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.551785 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.204 dir=-1.0 travel=0.408 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.204 dir=1.0 travel=0.408 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1365, -0.6706, 1.13] -[SETUP] robot_w pos = [0.5049, -0.6242, 0.908] yaw=0.000 -[SETUP] button_base = [0.6316, -0.0464, 0.222] -[SETUP] pre_press_b = [0.3, -0.0464, 0.332] -[SETUP] press_b = [0.6666, -0.0464, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.361, 0.263, 2.387, -2.65, 1.21, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4983 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4983 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.6697999835014343, -0.7405999898910522, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4707 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4050 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0150m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3426 force=0.0000 - press step= 20 dist=0.3351m force=0.000N stall=0 q=[ 0.400 -0.860 2.500 -1.164 1.362 0.047] - press step= 40 dist=0.2986m force=0.000N stall=0 q=[ 0.430 -0.659 2.424 -1.187 1.263 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2678 force=0.0000 - press step= 60 dist=0.2619m force=0.000N stall=0 q=[ 0.442 -0.453 2.331 -1.213 1.180 0.071] - press step= 80 dist=0.2249m force=0.000N stall=0 q=[ 0.437 -0.250 2.223 -1.241 1.117 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1927 force=0.0000 - press step= 100 dist=0.1878m force=0.000N stall=0 q=[ 0.421 -0.056 2.101 -1.270 1.074 0.096] - press step= 120 dist=0.1507m force=0.000N stall=0 q=[ 0.398 0.126 1.967 -1.302 1.048 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1187 force=0.0000 - press step= 140 dist=0.1140m force=0.000N stall=0 q=[ 0.372 0.299 1.821 -1.334 1.036 0.120] - press step= 160 dist=0.0778m force=0.000N stall=0 q=[ 0.345 0.464 1.661 -1.366 1.037 0.133] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0488 force=0.0000 - press step= 180 dist=0.0424m force=0.000N stall=0 q=[ 0.318 0.624 1.485 -1.396 1.051 0.147] -[AUTO_PRESS] PRESS TRIGGERED env0 force=186.639N dist=0.0449 - [PRESSED] force-contact at step 181 force=186.639N dist=0.0419m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0501 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.163 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1182 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.397 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1908 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.630 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2635 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.863 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3369 force=0.0000 - pre-press reached at step 169 dist=0.0142m - [retract-2] pre-press → home -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4036 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4783 force=0.0000 - home reached at step 86 dist=0.0139m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4983 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4983 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4983 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0419 m -[RESULT] final_dist : 0.5001 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_20.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:55:40Z [223,401ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:55:40Z [223,403ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:55:40Z [223,404ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:55:40Z [223,475ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:55:40Z [223,571ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_21.hdf5 b/v02/demo_21.hdf5 deleted file mode 100644 index a97f7c9fca751cd95d231f158d35fd4082ad7d29..0000000000000000000000000000000000000000 --- a/v02/demo_21.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e37c7e54b32332c945174f54c697c2883ce24fddd9f511cd863575d2fa0769d1 -size 1969445526 diff --git a/v02/demo_21.log b/v02/demo_21.log deleted file mode 100644 index 35081db4ed08372470246e2cb8ec6b907779cab3..0000000000000000000000000000000000000000 --- a/v02/demo_21.log +++ /dev/null @@ -1,299 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_21.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-55-55.log -====================================================================================== - -02:55:55 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025540.log -2026-04-23T02:55:41Z [346ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:41Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80140 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:55:41Z [793ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:55:41Z [1,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:41Z [1,110ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:41Z [1,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:41Z [1,120ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:41Z [1,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:41Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:55:42Z [1,325ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:55:49Z [8,806ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:55:49Z [9,062ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:55:49Z [9,062ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:55:52Z [11,234ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:55:57Z [16,682ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:55:57Z [16,686ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:55:57Z [16,687ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:55:57Z [16,687ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:55:57Z [16,687ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 21 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.305232 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.736927 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.204 dir=-1.0 travel=0.408 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.204 dir=1.0 travel=0.408 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1365, -0.6706, 1.13] -[SETUP] robot_w pos = [0.5843, -0.6412, 0.908] yaw=0.000 -[SETUP] button_base = [0.5522, -0.0294, 0.222] -[SETUP] pre_press_b = [0.3, -0.0294, 0.332] -[SETUP] press_b = [0.5872, -0.0294, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.455, 0.252, 2.404, -2.656, 1.116, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4271 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4271 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.7493000030517578, -0.7576000094413757, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4000 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3362 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0136m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2763 force=0.0000 - press step= 20 dist=0.2589m force=0.000N stall=0 q=[ 0.430 -0.855 2.502 -1.163 1.393 0.047] - press step= 40 dist=0.2223m force=0.000N stall=0 q=[ 0.458 -0.659 2.432 -1.185 1.295 0.058] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2017 force=0.0000 - press step= 60 dist=0.1855m force=0.000N stall=0 q=[ 0.469 -0.456 2.347 -1.209 1.211 0.070] - press step= 80 dist=0.1484m force=0.000N stall=0 q=[ 0.465 -0.254 2.245 -1.235 1.146 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1267 force=0.0000 - press step= 100 dist=0.1112m force=0.000N stall=0 q=[ 0.449 -0.059 2.129 -1.264 1.099 0.094] - press step= 120 dist=0.0741m force=0.000N stall=0 q=[ 0.427 0.126 2.000 -1.295 1.069 0.106] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0541 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=46.382N dist=0.0458 - [PRESSED] force-contact at step 138 force=46.382N dist=0.0411m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0493 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.076 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1165 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.309 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1890 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.543 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2631 force=0.0000 - pre-press reached at step 127 dist=0.0147m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.776 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3276 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3933 force=0.0000 - home reached at step 92 dist=0.0144m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4271 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4271 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4271 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4271 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0411 m -[RESULT] final_dist : 0.4300 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_21.hdf5 -============================================================ -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 -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 -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) -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T02:59:08Z [207,913ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T02:59:08Z [207,915ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T02:59:08Z [207,916ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T02:59:08Z [207,987ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T02:59:08Z [208,069ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_22.hdf5 b/v02/demo_22.hdf5 deleted file mode 100644 index d290eb9fed598d3a6ea05d38d706e78d0526d5ef..0000000000000000000000000000000000000000 --- a/v02/demo_22.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:00a5dd687df73d3551900a0b25726d2dfde7412cb5f2d34e685d8e8532eb0bdd -size 2065664579 diff --git a/v02/demo_22.log b/v02/demo_22.log deleted file mode 100644 index 0a99ab2831d38ac8607dc6244ebd385f7775cd96..0000000000000000000000000000000000000000 --- a/v02/demo_22.log +++ /dev/null @@ -1,306 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_22.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_02-59-24.log -====================================================================================== - -02:59:24 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_025909.log -2026-04-23T02:59:10Z [480ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:10Z [496ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80143 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T02:59:10Z [992ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T02:59:10Z [1,382ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:10Z [1,396ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:10Z [1,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:10Z [1,407ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:10Z [1,408ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:10Z [1,409ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T02:59:11Z [1,668ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T02:59:18Z [9,449ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T02:59:19Z [9,686ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T02:59:19Z [9,692ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T02:59:21Z [11,596ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T02:59:26Z [16,496ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T02:59:26Z [16,501ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 22 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.041740 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.486129 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 10 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.263 dir=-1.0 travel=0.526 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.263 dir=1.0 travel=0.526 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.8151, 0.9713, 1.13] -[SETUP] robot_w pos = [0.1791, 1.0041, 0.908] yaw=0.000 -[SETUP] button_base = [0.6359, -0.0329, 0.222] -[SETUP] pre_press_b = [0.3, -0.0329, 0.332] -[SETUP] press_b = [0.6709, -0.0329, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.436, 0.254, 2.401, -2.655, 1.135, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5039 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5039 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.3440999984741211, 0.8877000212669373, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4771 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4136 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 88 dist_to_pre=0.0137m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3534 force=0.0000 - press step= 20 dist=0.3378m force=0.000N stall=0 q=[ 0.425 -0.852 2.496 -1.166 1.383 0.047] - press step= 40 dist=0.3013m force=0.000N stall=0 q=[ 0.453 -0.652 2.419 -1.190 1.284 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2787 force=0.0000 - press step= 60 dist=0.2645m force=0.000N stall=0 q=[ 0.463 -0.448 2.326 -1.216 1.200 0.072] - press step= 80 dist=0.2275m force=0.000N stall=0 q=[ 0.458 -0.246 2.218 -1.244 1.135 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2034 force=0.0000 - press step= 100 dist=0.1904m force=0.000N stall=0 q=[ 0.441 -0.053 2.097 -1.274 1.090 0.096] - press step= 120 dist=0.1534m force=0.000N stall=0 q=[ 0.418 0.128 1.963 -1.306 1.063 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1291 force=0.0000 - press step= 140 dist=0.1167m force=0.000N stall=0 q=[ 0.392 0.301 1.817 -1.338 1.049 0.120] - press step= 160 dist=0.0805m force=0.000N stall=0 q=[ 0.364 0.466 1.657 -1.370 1.049 0.133] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0582 force=0.0000 - press step= 180 dist=0.0450m force=0.000N stall=0 q=[ 0.336 0.627 1.482 -1.400 1.061 0.147] -[AUTO_PRESS] PRESS TRIGGERED env0 force=90.820N dist=0.0456 - [PRESSED] force-contact at step 182 force=90.820N dist=0.0420m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0462 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1100 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.222 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1827 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.455 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2556 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.688 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3290 force=0.0000 - pre-press reached at step 171 dist=0.0142m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.922 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3953 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4633 force=0.0000 - home reached at step 89 dist=0.0145m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.5039 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5039 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5039 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5039 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0420 m -[RESULT] final_dist : 0.5062 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_22.hdf5 -============================================================ -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 -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 -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) -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:02:47Z [217,548ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:02:47Z [217,550ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:02:47Z [217,551ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:02:47Z [217,624ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:02:47Z [217,729ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_23.hdf5 b/v02/demo_23.hdf5 deleted file mode 100644 index 7355208288ef6b95260000d7861d4b7c9bdc8cf4..0000000000000000000000000000000000000000 --- a/v02/demo_23.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:cb573bc6ce0984098b910d6c320ee30b67985b627434673dcaae68291901e7e8 -size 2200770651 diff --git a/v02/demo_23.log b/v02/demo_23.log deleted file mode 100644 index 3e218144a715e9dcd47815e6ebce3871bc9a0e3f..0000000000000000000000000000000000000000 --- a/v02/demo_23.log +++ /dev/null @@ -1,300 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_23.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-03-03.log -====================================================================================== - -03:03:03 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030247.log -2026-04-23T03:02:48Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:48Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80148 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:02:48Z [791ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:02:48Z [1,100ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:49Z [1,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:49Z [1,118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:49Z [1,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:49Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:49Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:02:49Z [1,325ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:02:57Z [9,350ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:02:57Z [9,650ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:02:57Z [9,650ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T03:03:00Z [12,285ms] [Warning] [omni.fabric.plugin] Warning: attribute resolution not found for bucket id 9 - -2026-04-23T03:03:04Z [17,090ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:03:04Z [17,095ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 23 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.014296 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.487660 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 14 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.250 dir=-1.0 travel=0.499 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.250 dir=1.0 travel=0.499 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.7424, 0.8901, 1.13] -[SETUP] robot_w pos = [0.1642, 0.918, 0.908] yaw=0.000 -[SETUP] button_base = [0.5782, -0.0279, 0.222] -[SETUP] pre_press_b = [0.3, -0.0279, 0.332] -[SETUP] press_b = [0.6132, -0.0279, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.463, 0.252, 2.405, -2.657, 1.107, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4511 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4511 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.32910001277923584, 0.8015999794006348, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4242 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3609 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0144m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3013 force=0.0000 - press step= 20 dist=0.2838m force=0.000N stall=0 q=[ 0.432 -0.856 2.501 -1.164 1.395 0.047] - press step= 40 dist=0.2473m force=0.000N stall=0 q=[ 0.460 -0.659 2.428 -1.187 1.297 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2267 force=0.0000 - press step= 60 dist=0.2104m force=0.000N stall=0 q=[ 0.471 -0.456 2.340 -1.211 1.212 0.071] - press step= 80 dist=0.1734m force=0.000N stall=0 q=[ 0.467 -0.254 2.237 -1.238 1.146 0.083] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1516 force=0.0000 - press step= 100 dist=0.1362m force=0.000N stall=0 q=[ 0.451 -0.060 2.119 -1.268 1.100 0.095] - press step= 120 dist=0.0991m force=0.000N stall=0 q=[ 0.428 0.124 1.989 -1.299 1.070 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0779 force=0.0000 - press step= 140 dist=0.0623m force=0.000N stall=0 q=[ 0.402 0.297 1.845 -1.331 1.055 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=126.845N dist=0.0455 - [PRESSED] force-contact at step 152 force=126.845N dist=0.0412m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0454 force=7.2934 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0910 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1633 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.198 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2363 force=0.0000 - pre-press reached at step 141 dist=0.0138m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.432 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3083 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.665 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3718 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.898 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4417 force=0.0000 - home reached at step 92 dist=0.0134m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4511 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4511 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4511 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0412 m -[RESULT] final_dist : 0.4540 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_23.hdf5 -============================================================ -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 -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 -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) -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:06:30Z [222,470ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:06:30Z [222,472ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:06:30Z [222,473ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:06:30Z [222,544ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:06:30Z [222,590ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_24.hdf5 b/v02/demo_24.hdf5 deleted file mode 100644 index f202e3b9af3e928ef88d47a9e28992cc4be70c93..0000000000000000000000000000000000000000 --- a/v02/demo_24.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:119ff0732114bf31aabb4155996d3122614dbc7eae19449d5c234982e3e57d72 -size 2208977751 diff --git a/v02/demo_24.log b/v02/demo_24.log deleted file mode 100644 index 6818c0f124ed1b9981df61399a8b1193bbadc7b0..0000000000000000000000000000000000000000 --- a/v02/demo_24.log +++ /dev/null @@ -1,300 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_24.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-06-45.log -====================================================================================== - -03:06:45 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_030631.log -2026-04-23T03:06:31Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:31Z [362ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80156 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:06:31Z [805ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:06:32Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:32Z [1,135ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:32Z [1,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:32Z [1,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:32Z [1,146ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:32Z [1,147ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -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) -2026-04-23T03:06:32Z [1,347ms] [Warning] [omni.log] Source: omni.hydra was already registered. -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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:06:39Z [8,828ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:06:40Z [9,077ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -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' -2026-04-23T03:06:40Z [9,078ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -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 -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. -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. -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. -2026-04-23T03:06:42Z [10,977ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 - -2026-04-23T03:06:47Z [16,267ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:06:47Z [16,271ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:06:47Z [16,272ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:06:47Z [16,272ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:06:47Z [16,272ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 24 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.300705 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.724039 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 14 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.250 dir=-1.0 travel=0.499 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.250 dir=1.0 travel=0.499 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.7424, 0.8901, 1.13] -[SETUP] robot_w pos = [0.1704, 0.904, 0.908] yaw=0.000 -[SETUP] button_base = [0.572, -0.0139, 0.222] -[SETUP] pre_press_b = [0.3, -0.0139, 0.332] -[SETUP] press_b = [0.607, -0.0139, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.539, 0.247, 2.413, -2.66, 1.032, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4478 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4478 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.3353999853134155, 0.7875999808311462, 1.2956000566482544] -[PHASE] approach: up to 100 steps - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4216 force=0.0000 - 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] - 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] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3602 force=0.0000 - 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] - [APPROACH DONE] reached pre-press at step 93 dist_to_pre=0.0146m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3029 force=0.0000 - press step= 20 dist=0.2778m force=0.000N stall=0 q=[ 0.457 -0.850 2.498 -1.166 1.419 0.047] - press step= 40 dist=0.2412m force=0.000N stall=0 q=[ 0.483 -0.656 2.426 -1.188 1.320 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2289 force=0.0000 - press step= 60 dist=0.2044m force=0.000N stall=0 q=[ 0.493 -0.455 2.339 -1.213 1.234 0.071] - press step= 80 dist=0.1673m force=0.000N stall=0 q=[ 0.488 -0.254 2.237 -1.240 1.167 0.083] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1535 force=0.0000 - press step= 100 dist=0.1301m force=0.000N stall=0 q=[ 0.472 -0.061 2.121 -1.269 1.119 0.094] - press step= 120 dist=0.0930m force=0.000N stall=0 q=[ 0.449 0.122 1.992 -1.301 1.087 0.106] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0796 force=0.0000 - press step= 140 dist=0.0562m force=0.000N stall=0 q=[ 0.423 0.295 1.849 -1.333 1.069 0.118] -[AUTO_PRESS] PRESS TRIGGERED env0 force=1.737N dist=0.0464 - [PRESSED] force-contact at step 148 force=1.737N dist=0.0416m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0464 force=2.6999 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0922 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.163 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1645 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.397 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2379 force=0.0000 - pre-press reached at step 137 dist=0.0146m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.630 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3082 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.863 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3696 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4372 force=0.0000 - home reached at step 96 dist=0.0146m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4478 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4478 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4478 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0416 m -[RESULT] final_dist : 0.4513 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_24.hdf5 -============================================================ -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 -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 -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) -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,932ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:10:20Z [228,933ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:10:20Z [228,935ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:10:20Z [228,935ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:10:20Z [229,007ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:10:20Z [229,085ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_25.hdf5 b/v02/demo_25.hdf5 deleted file mode 100644 index a4edca5dad4e800525e834ce54dfd73317e12e32..0000000000000000000000000000000000000000 --- a/v02/demo_25.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f5a2619be4878531dc5355a3d3d23e05307593ebf4c65c4a7103f2192fa43309 -size 1961819092 diff --git a/v02/demo_25.log b/v02/demo_25.log deleted file mode 100644 index 33496521a5941b12a1bef41e8df9c1d8b17e33d3..0000000000000000000000000000000000000000 --- a/v02/demo_25.log +++ /dev/null @@ -1,300 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_25.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-10-35.log -====================================================================================== - -03:10:35 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031020.log -2026-04-23T03:10:21Z [345ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:21Z [345ms] [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) -2026-04-23T03:10:21Z [358ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80147 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:10:21Z [788ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:10:22Z [1,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:22Z [1,098ms] [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) -2026-04-23T03:10:22Z [1,111ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:22Z [1,111ms] [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) -2026-04-23T03:10:22Z [1,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:22Z [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) -2026-04-23T03:10:22Z [1,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:22Z [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) -2026-04-23T03:10:22Z [1,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:22Z [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) -2026-04-23T03:10:22Z [1,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:10:22Z [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) -2026-04-23T03:10:22Z [1,322ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:10:22Z [1,638ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:10:22Z [1,645ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:10:29Z [8,809ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:10:29Z [9,040ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:10:29Z [9,040ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:10:29Z [9,041ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:10:30Z [9,440ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8031 instead -2026-04-23T03:10:31Z [11,042ms] [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. -2026-04-23T03:10:31Z [11,043ms] [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. -2026-04-23T03:10:31Z [11,043ms] [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. -2026-04-23T03:10:32Z [11,140ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T03:10:37Z [16,095ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:10:37Z [16,099ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 25 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.033522 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.476416 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 11 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.214 dir=-1.0 travel=0.428 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.214 dir=1.0 travel=0.428 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6427, 0.8257, 1.13] -[SETUP] robot_w pos = [0.0741, 0.8345, 0.908] yaw=0.000 -[SETUP] button_base = [0.5686, -0.0089, 0.222] -[SETUP] pre_press_b = [0.3, -0.0089, 0.332] -[SETUP] press_b = [0.6036, -0.0089, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.565, 0.246, 2.415, -2.661, 1.006, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4456 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4456 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.23899999260902405, 0.7181000113487244, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.154m tip_dist=0.423m q=[ 0.076 -1.484 2.657 -1.101 1.619 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4196 force=0.0000 - approach step= 40/100 pre_dist=0.117m tip_dist=0.389m q=[ 0.177 -1.381 2.644 -1.108 1.622 0.011] - approach step= 60/100 pre_dist=0.079m tip_dist=0.357m q=[ 0.280 -1.254 2.619 -1.119 1.599 0.020] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3589 force=0.0000 - approach step= 80/100 pre_dist=0.042m tip_dist=0.325m q=[ 0.378 -1.106 2.580 -1.136 1.553 0.031] - [APPROACH DONE] reached pre-press at step 95 dist_to_pre=0.0138m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3023 force=0.0000 - press step= 20 dist=0.2738m force=0.000N stall=0 q=[ 0.468 -0.844 2.495 -1.167 1.425 0.048] - press step= 40 dist=0.2372m force=0.000N stall=0 q=[ 0.492 -0.650 2.423 -1.189 1.327 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2289 force=0.0000 - press step= 60 dist=0.2003m force=0.000N stall=0 q=[ 0.501 -0.449 2.337 -1.214 1.241 0.071] - press step= 80 dist=0.1632m force=0.000N stall=0 q=[ 0.496 -0.250 2.235 -1.241 1.174 0.083] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1535 force=0.0000 - press step= 100 dist=0.1260m force=0.000N stall=0 q=[ 0.479 -0.058 2.119 -1.271 1.125 0.094] - press step= 120 dist=0.0889m force=0.000N stall=0 q=[ 0.456 0.125 1.990 -1.302 1.092 0.106] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0794 force=0.0000 - press step= 140 dist=0.0521m force=0.000N stall=0 q=[ 0.430 0.298 1.848 -1.334 1.074 0.118] -[AUTO_PRESS] PRESS TRIGGERED env0 force=38.333N dist=0.0463 - [PRESSED] force-contact at step 146 force=38.333N dist=0.0413m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0464 force=8.5450 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0923 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.157 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1647 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.391 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2383 force=0.0000 - pre-press reached at step 135 dist=0.0150m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.624 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3076 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.858 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3686 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4356 force=0.0000 - home reached at step 98 dist=0.0141m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4456 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4456 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4456 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0413 m -[RESULT] final_dist : 0.4494 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_25.hdf5 -============================================================ -2026-04-23T03:10:37Z [16,130ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:10:37Z [16,130ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:10:39Z [18,690ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:13:44Z [203,907ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:13:44Z [203,909ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:13:44Z [203,910ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:13:44Z [203,981ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:13:44Z [204,073ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_26.hdf5 b/v02/demo_26.hdf5 deleted file mode 100644 index 313773a4368c447462338e1970c51d389c3c6faf..0000000000000000000000000000000000000000 --- a/v02/demo_26.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:682e04d841107932701c867a56559ccdaf1085eadd56d78ed3786231f54d3352 -size 2292064095 diff --git a/v02/demo_26.log b/v02/demo_26.log deleted file mode 100644 index e0b8d71d8921b82f9b49d5a98cdcce162cf778e8..0000000000000000000000000000000000000000 --- a/v02/demo_26.log +++ /dev/null @@ -1,308 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_26.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-13-59.log -====================================================================================== - -03:13:59 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031345.log -2026-04-23T03:13:45Z [348ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:45Z [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) -2026-04-23T03:13:45Z [361ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80151 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:13:46Z [795ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:13:46Z [1,106ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:46Z [1,106ms] [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) -2026-04-23T03:13:46Z [1,119ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:46Z [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) -2026-04-23T03:13:46Z [1,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:46Z [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) -2026-04-23T03:13:46Z [1,129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:46Z [1,129ms] [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) -2026-04-23T03:13:46Z [1,130ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:46Z [1,130ms] [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) -2026-04-23T03:13:46Z [1,130ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:13:46Z [1,130ms] [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) -2026-04-23T03:13:46Z [1,333ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:13:47Z [1,647ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:13:47Z [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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:13:54Z [8,814ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:13:54Z [9,049ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:13:54Z [9,049ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:13:54Z [9,051ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:13:55Z [9,453ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8085 instead -2026-04-23T03:13:56Z [10,845ms] [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. -2026-04-23T03:13:56Z [10,845ms] [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. -2026-04-23T03:13:56Z [10,845ms] [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. -2026-04-23T03:13:56Z [10,930ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T03:14:01Z [15,635ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:14:01Z [15,639ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:14:01Z [15,640ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 26 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.017475 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.472759 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 10 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.205 dir=-1.0 travel=0.409 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.205 dir=1.0 travel=0.409 -Creating window for environment. -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1374, 0.6778, 1.13] -[SETUP] robot_w pos = [0.5085, 0.6407, 0.908] yaw=0.000 -[SETUP] button_base = [0.6289, 0.0371, 0.222] -[SETUP] pre_press_b = [0.3, 0.0371, 0.332] -[SETUP] press_b = [0.6639, 0.0371, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.785, 0.257, 2.397, -2.654, 0.786, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5111 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5111 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.6735000014305115, 0.5242999792098999, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.185m tip_dist=0.491m q=[ 0.075 -1.501 2.660 -1.100 1.638 0.003] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4874 force=0.0000 - approach step= 40/100 pre_dist=0.148m tip_dist=0.460m q=[ 0.177 -1.416 2.651 -1.104 1.665 0.009] - approach step= 60/100 pre_dist=0.110m tip_dist=0.430m q=[ 0.285 -1.306 2.630 -1.114 1.666 0.017] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4329 force=0.0000 - approach step= 80/100 pre_dist=0.073m tip_dist=0.401m q=[ 0.392 -1.174 2.597 -1.129 1.643 0.026] - approach step=100/100 pre_dist=0.035m tip_dist=0.373m q=[ 0.490 -1.023 2.549 -1.149 1.600 0.037] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3807 force=0.0000 - press step= 20 dist=0.3440m force=0.000N stall=0 q=[ 0.519 -0.879 2.500 -1.167 1.514 0.046] - press step= 40 dist=0.3075m force=0.000N stall=0 q=[ 0.545 -0.690 2.428 -1.191 1.411 0.057] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.3122 force=0.0000 - press step= 60 dist=0.2706m force=0.000N stall=0 q=[ 0.557 -0.496 2.342 -1.217 1.320 0.069] - press step= 80 dist=0.2336m force=0.000N stall=0 q=[ 0.554 -0.302 2.242 -1.246 1.246 0.080] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2364 force=0.0000 - press step= 100 dist=0.1964m force=0.000N stall=0 q=[ 0.541 -0.113 2.130 -1.276 1.189 0.091] - press step= 120 dist=0.1592m force=0.000N stall=0 q=[ 0.521 0.068 2.004 -1.307 1.148 0.102] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1608 force=0.0000 - press step= 140 dist=0.1223m force=0.000N stall=0 q=[ 0.496 0.241 1.866 -1.340 1.122 0.114] - press step= 160 dist=0.0858m force=0.000N stall=0 q=[ 0.470 0.408 1.715 -1.372 1.109 0.126] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0873 force=0.0000 - press step= 180 dist=0.0499m force=0.000N stall=0 q=[ 0.442 0.570 1.547 -1.403 1.108 0.139] -[AUTO_PRESS] PRESS TRIGGERED env0 force=139.098N dist=0.0466 - [PRESSED] force-contact at step 185 force=139.098N dist=0.0418m -[PHASE] hold -[AUTO_PRESS] door state=2 progress=0.012 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0467 force=12.2349 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.245 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.0838 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.478 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1568 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.712 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2308 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.945 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3053 force=0.0000 - pre-press reached at step 166 dist=0.0145m - [retract-2] pre-press → home -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3699 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4236 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4859 force=0.0000 - home reached at step 114 dist=0.0142m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5111 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5111 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5111 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=801 env0 dist=0.5111 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0418 m -[RESULT] final_dist : 0.5160 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_26.hdf5 -============================================================ -2026-04-23T03:14:01Z [15,669ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:14:01Z [15,669ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:14:03Z [18,214ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:17:34Z [228,917ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:17:34Z [228,919ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:17:34Z [228,920ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:17:34Z [228,992ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:17:34Z [229,094ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_27.hdf5 b/v02/demo_27.hdf5 deleted file mode 100644 index 6aa302e9fbd77aa1bcc6cefee01e790c307d36dc..0000000000000000000000000000000000000000 --- a/v02/demo_27.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2cd07401bc88a181e55c700479b4ea451184d1949e8704fed62c2197e6bb8794 -size 2314997843 diff --git a/v02/demo_27.log b/v02/demo_27.log deleted file mode 100644 index 5dc489052212535d6ffd394f2ffda0b33085badf..0000000000000000000000000000000000000000 --- a/v02/demo_27.log +++ /dev/null @@ -1,309 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_27.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-17-49.log -====================================================================================== - -03:17:49 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_031735.log -2026-04-23T03:17:35Z [350ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:35Z [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) -2026-04-23T03:17:35Z [365ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80149 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:17:36Z [809ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:17:36Z [1,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:36Z [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) -2026-04-23T03:17:36Z [1,130ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:36Z [1,130ms] [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) -2026-04-23T03:17:36Z [1,135ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:36Z [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) -2026-04-23T03:17:36Z [1,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:36Z [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) -2026-04-23T03:17:36Z [1,141ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:36Z [1,141ms] [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) -2026-04-23T03:17:36Z [1,141ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:17:36Z [1,141ms] [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) -2026-04-23T03:17:36Z [1,343ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:17:37Z [1,658ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:17:37Z [1,665ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:17:44Z [8,846ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:17:44Z [9,083ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:17:44Z [9,083ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:17:44Z [9,093ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:17:44Z [9,517ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8007 instead -2026-04-23T03:17:46Z [10,932ms] [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. -2026-04-23T03:17:46Z [10,933ms] [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. -2026-04-23T03:17:46Z [10,934ms] [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. -2026-04-23T03:17:46Z [11,020ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T03:17:51Z [16,352ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:17:51Z [16,358ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 27 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.090137 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.653136 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 13 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.212 dir=-1.0 travel=0.424 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.212 dir=1.0 travel=0.424 -Creating window for environment. -[INFO]: Completed setting up the environment... -[CAM] RESET cam_wrist pos=(+1.0000,+0.3070,+1.7315) quat(wxyz)=(+0.7071,+0.0018,-0.0018,-0.7071) focal=11.8 -[CAM] RESET cam_top pos=(+1.0002,+0.6499,+1.3475) quat(wxyz)=(+0.9948,-0.0260,+0.0738,-0.0658) focal=10.0 -[CAM] RESET cam_belly pos=(+1.0870,+0.6499,+1.0155) quat(wxyz)=(+0.9998,+0.0000,-0.0196,-0.0000) focal=10.0 -/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:336: 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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[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]] -[SETUP] button_w = [1.0985, 0.674, 1.13] -[SETUP] robot_w pos = [0.4617, 0.6856, 0.908] yaw=0.000 -[SETUP] button_base = [0.6368, -0.0117, 0.222] -[SETUP] pre_press_b = [0.3, -0.0117, 0.332] -[SETUP] press_b = [0.6718, -0.0117, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.551, 0.246, 2.414, -2.66, 1.02, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5078 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5078 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.6266999840736389, 0.5691999793052673, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.152m tip_dist=0.485m q=[ 0.076 -1.483 2.657 -1.101 1.618 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4822 force=0.0000 - approach step= 40/100 pre_dist=0.115m tip_dist=0.452m q=[ 0.177 -1.378 2.644 -1.108 1.618 0.012] - approach step= 60/100 pre_dist=0.078m tip_dist=0.419m q=[ 0.279 -1.250 2.618 -1.120 1.594 0.021] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4220 force=0.0000 - approach step= 80/100 pre_dist=0.040m tip_dist=0.388m q=[ 0.376 -1.101 2.578 -1.136 1.546 0.031] - [APPROACH DONE] reached pre-press at step 94 dist_to_pre=0.0140m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3653 force=0.0000 - press step= 20 dist=0.3383m force=0.000N stall=0 q=[ 0.463 -0.843 2.491 -1.169 1.419 0.048] - press step= 40 dist=0.3018m force=0.000N stall=0 q=[ 0.488 -0.646 2.414 -1.193 1.318 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2916 force=0.0000 - press step= 60 dist=0.2650m force=0.000N stall=0 q=[ 0.496 -0.445 2.322 -1.220 1.232 0.072] - press step= 80 dist=0.2280m force=0.000N stall=0 q=[ 0.490 -0.246 2.215 -1.248 1.165 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2161 force=0.0000 - press step= 100 dist=0.1909m force=0.000N stall=0 q=[ 0.472 -0.055 2.095 -1.278 1.118 0.095] - press step= 120 dist=0.1538m force=0.000N stall=0 q=[ 0.449 0.126 1.963 -1.310 1.087 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1413 force=0.0000 - press step= 140 dist=0.1171m force=0.000N stall=0 q=[ 0.422 0.298 1.818 -1.342 1.071 0.119] - press step= 160 dist=0.0808m force=0.000N stall=0 q=[ 0.394 0.463 1.659 -1.375 1.067 0.132] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0693 force=0.0000 - press step= 180 dist=0.0453m force=0.000N stall=0 q=[ 0.366 0.624 1.484 -1.405 1.076 0.146] -[AUTO_PRESS] PRESS TRIGGERED env0 force=56.972N dist=0.0461 - [PRESSED] force-contact at step 182 force=56.972N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0461 force=7.0708 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.204 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1003 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.438 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1730 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.671 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2463 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.904 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3199 force=0.0000 - pre-press reached at step 171 dist=0.0143m - [retract-2] pre-press → home -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3857 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4472 force=0.0000 - home reached at step 96 dist=0.0141m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.5077 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5078 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5078 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5078 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.5109 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_27.hdf5 -============================================================ -2026-04-23T03:17:51Z [16,393ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:17:51Z [16,393ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:17:54Z [19,347ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:21:40Z [244,947ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:21:40Z [244,949ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:21:40Z [244,950ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:21:40Z [245,022ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:21:40Z [245,109ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_28.hdf5 b/v02/demo_28.hdf5 deleted file mode 100644 index bb5b21aa192b0d35faf2bcc9d08a6e8d4ecb0119..0000000000000000000000000000000000000000 --- a/v02/demo_28.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:365c370a0c34e8af7a587297c9c8b14ecce72d98a39c41f65b28cfd05807255d -size 2801501375 diff --git a/v02/demo_28.log b/v02/demo_28.log deleted file mode 100644 index 4cc2b71c6a6f8d3e2f23f775ff60f3c4eb14886e..0000000000000000000000000000000000000000 --- a/v02/demo_28.log +++ /dev/null @@ -1,312 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_28.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-21-56.log -====================================================================================== - -03:21:56 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_032141.log -2026-04-23T03:21:41Z [480ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:41Z [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) -2026-04-23T03:21:41Z [494ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80143 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:21:42Z [996ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:21:42Z [1,388ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:42Z [1,388ms] [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) -2026-04-23T03:21:42Z [1,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:42Z [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) -2026-04-23T03:21:42Z [1,407ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:42Z [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) -2026-04-23T03:21:42Z [1,413ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:42Z [1,413ms] [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) -2026-04-23T03:21:42Z [1,414ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:42Z [1,414ms] [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) -2026-04-23T03:21:42Z [1,415ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:21:42Z [1,415ms] [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) -2026-04-23T03:21:42Z [1,674ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:21:43Z [2,086ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:21:43Z [2,096ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:21:50Z [9,478ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:21:50Z [9,709ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:21:50Z [9,709ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:21:50Z [9,710ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:21:51Z [10,136ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8025 instead -2026-04-23T03:21:52Z [11,785ms] [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. -2026-04-23T03:21:52Z [11,785ms] [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. -2026-04-23T03:21:52Z [11,786ms] [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. -2026-04-23T03:21:53Z [11,874ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T03:21:58Z [17,106ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:21:58Z [17,110ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:21:58Z [17,110ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:21:58Z [17,110ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:21:58Z [17,110ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:21:58Z [17,110ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:21:58Z [17,111ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:21:58Z [17,111ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:21:58Z [17,111ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:21:58Z [17,111ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 28 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.280461 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.503341 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 8 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameB initial_x=-0.278 dir=-1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameL initial_x=-0.539 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameT initial_x=-0.278 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_Glass initial_x=-0.263 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameB initial_x=0.278 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameR initial_x=0.539 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameT initial_x=0.278 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_Glass initial_x=0.263 dir=1.0 travel=0.556 -Creating window for environment. -[INFO]: Completed setting up the environment... -[CAM] RESET cam_wrist pos=(+1.0000,+0.3070,+1.7315) quat(wxyz)=(+0.7071,+0.0018,-0.0018,-0.7071) focal=11.8 -[CAM] RESET cam_top pos=(+1.0002,+0.6499,+1.3475) quat(wxyz)=(+0.9948,-0.0260,+0.0738,-0.0658) focal=10.0 -[CAM] RESET cam_belly pos=(+1.0870,+0.6499,+1.0155) quat(wxyz)=(+0.9998,+0.0000,-0.0196,-0.0000) focal=10.0 -/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:336: 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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[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]] -[SETUP] button_w = [0.868, 0.9801, 1.13] -[SETUP] robot_w pos = [0.2782, 0.952, 0.908] yaw=0.000 -[SETUP] button_base = [0.5898, 0.0281, 0.222] -[SETUP] pre_press_b = [0.3, 0.0281, 0.332] -[SETUP] press_b = [0.6248, 0.0281, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.746, 0.252, 2.405, -2.657, 0.825, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=1 env0 dist=0.4733 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=41 env0 dist=0.4733 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4431000053882599, 0.8355000019073486, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.178m tip_dist=0.453m q=[ 0.075 -1.498 2.659 -1.100 1.635 0.003] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=81 env0 dist=0.4489 force=0.0000 - approach step= 40/100 pre_dist=0.141m tip_dist=0.421m q=[ 0.177 -1.410 2.650 -1.105 1.658 0.009] - approach step= 60/100 pre_dist=0.104m tip_dist=0.391m q=[ 0.285 -1.297 2.628 -1.115 1.655 0.017] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=121 env0 dist=0.3928 force=0.0000 - approach step= 80/100 pre_dist=0.066m tip_dist=0.361m q=[ 0.390 -1.162 2.594 -1.130 1.628 0.027] - approach step=100/100 pre_dist=0.029m tip_dist=0.331m q=[ 0.487 -1.008 2.545 -1.150 1.580 0.037] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=161 env0 dist=0.3391 force=0.0000 - press step= 20 dist=0.3027m force=0.000N stall=0 q=[ 0.514 -0.865 2.498 -1.167 1.496 0.046] - press step= 40 dist=0.2661m force=0.000N stall=0 q=[ 0.539 -0.676 2.427 -1.190 1.395 0.058] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=201 env0 dist=0.2705 force=0.0000 - press step= 60 dist=0.2292m force=0.000N stall=0 q=[ 0.549 -0.481 2.343 -1.216 1.306 0.069] - press step= 80 dist=0.1921m force=0.000N stall=0 q=[ 0.546 -0.286 2.244 -1.243 1.233 0.081] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=241 env0 dist=0.1947 force=0.0000 - press step= 100 dist=0.1549m force=0.000N stall=0 q=[ 0.532 -0.096 2.131 -1.273 1.177 0.092] - press step= 120 dist=0.1177m force=0.000N stall=0 q=[ 0.511 0.086 2.006 -1.304 1.138 0.103] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=281 env0 dist=0.1196 force=0.0000 - press step= 140 dist=0.0808m force=0.000N stall=0 q=[ 0.486 0.259 1.868 -1.337 1.114 0.115] - press step= 160 dist=0.0443m force=0.000N stall=0 q=[ 0.459 0.425 1.716 -1.370 1.102 0.127] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=321 env0 dist=0.0478 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=100.243N dist=0.0465 - [PRESSED] force-contact at step 162 force=100.243N dist=0.0412m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=361 env0 dist=0.0553 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=401 env0 dist=0.1259 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=441 env0 dist=0.1996 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.087 panels=8 -[AUTO_PRESS] count=481 env0 dist=0.2740 force=0.0000 - pre-press reached at step 146 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.321 panels=8 -[AUTO_PRESS] count=521 env0 dist=0.3376 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.554 panels=8 -[AUTO_PRESS] count=561 env0 dist=0.3934 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.788 panels=8 -[AUTO_PRESS] count=601 env0 dist=0.4559 force=0.0000 - home reached at step 110 dist=0.0147m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=641 env0 dist=0.4733 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=681 env0 dist=0.4733 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=721 env0 dist=0.4733 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0412 m -[RESULT] final_dist : 0.4783 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_28.hdf5 -============================================================ -2026-04-23T03:21:58Z [17,140ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:21:58Z [17,140ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:22:00Z [19,673ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:26:00Z [259,580ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:26:00Z [259,582ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:26:00Z [259,583ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:26:00Z [259,658ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:26:00Z [259,743ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_29.hdf5 b/v02/demo_29.hdf5 deleted file mode 100644 index b3236a5dd3951a15ec0686ac4ffded2aec5afceb..0000000000000000000000000000000000000000 --- a/v02/demo_29.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d48c9c75605970f6b5525628a0d2c8a7bc2b9f5823cc203cca909e5e9934b144 -size 2829588301 diff --git a/v02/demo_29.log b/v02/demo_29.log deleted file mode 100644 index 20737f8836f35999ae136ec8d790b0809762ad66..0000000000000000000000000000000000000000 --- a/v02/demo_29.log +++ /dev/null @@ -1,314 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.17 against v0.15. -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /isaac-sim/kit/python/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_29.hdf5 - -====================================================================================== -[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-04-23_03-26-15.log -====================================================================================== - -03:26:15 [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. -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_032601.log -2026-04-23T03:26:01Z [347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:01Z [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) -2026-04-23T03:26:01Z [362ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 0d829d0d.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 80134 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:26:02Z [806ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:26:02Z [1,125ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:02Z [1,125ms] [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) -2026-04-23T03:26:02Z [1,138ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:02Z [1,138ms] [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) -2026-04-23T03:26:02Z [1,143ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:02Z [1,143ms] [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) -2026-04-23T03:26:02Z [1,148ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:02Z [1,148ms] [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) -2026-04-23T03:26:02Z [1,149ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:02Z [1,149ms] [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) -2026-04-23T03:26:02Z [1,149ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:26:02Z [1,149ms] [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) -2026-04-23T03:26:02Z [1,350ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:26:03Z [1,666ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:26:03Z [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. - -Failed to open [/var/run/utmp] -Active user not found. Using default user [kiosk]Streaming server started. -2026-04-23T03:26:10Z [8,855ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:26:10Z [9,094ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:26:10Z [9,094ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:26:10Z [9,103ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:26:11Z [9,513ms] [Warning] [omni.services.transport.server.http.server] http server was meant to start on 8011 but port is taken, starting on port 8043 instead -2026-04-23T03:26:12Z [10,949ms] [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. -2026-04-23T03:26:12Z [10,949ms] [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. -2026-04-23T03:26:12Z [10,949ms] [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. -2026-04-23T03:26:12Z [11,041ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 - -2026-04-23T03:26:17Z [16,335ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] -2026-04-23T03:26:17Z [16,339ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:26:17Z [16,339ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:26:17Z [16,339ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:26:17Z [16,340ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:26:17Z [16,340ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:26:17Z [16,340ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -2026-04-23T03:26:17Z [16,340ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) -2026-04-23T03:26:17Z [16,340ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) -2026-04-23T03:26:17Z [16,340ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 29 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.294111 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.552213 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 8 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameB initial_x=-0.278 dir=-1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameL initial_x=-0.539 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameT initial_x=-0.278 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_Glass initial_x=-0.263 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameB initial_x=0.278 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameR initial_x=0.539 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameT initial_x=0.278 dir=1.0 travel=0.556 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_Glass initial_x=0.263 dir=1.0 travel=0.556 -Creating window for environment. -[INFO]: Completed setting up the environment... -[CAM] RESET cam_wrist pos=(+1.0000,+0.3070,+1.7315) quat(wxyz)=(+0.7071,+0.0018,-0.0018,-0.7071) focal=11.8 -[CAM] RESET cam_top pos=(+1.0002,+0.6499,+1.3475) quat(wxyz)=(+0.9948,-0.0260,+0.0738,-0.0658) focal=10.0 -[CAM] RESET cam_belly pos=(+1.0870,+0.6499,+1.0155) quat(wxyz)=(+0.9998,+0.0000,-0.0196,-0.0000) focal=10.0 -/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:336: 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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[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]] -[SETUP] button_w = [0.868, 0.9801, 1.13] -[SETUP] robot_w pos = [0.2416, 0.9848, 0.908] yaw=0.000 -[SETUP] button_base = [0.6263, -0.0047, 0.222] -[SETUP] pre_press_b = [0.3, -0.0047, 0.332] -[SETUP] press_b = [0.6613, -0.0047, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.587, 0.245, 2.416, -2.661, 0.984, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=1 env0 dist=0.4994 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=41 env0 dist=0.4994 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.4065999984741211, 0.868399977684021, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.156m tip_dist=0.477m q=[ 0.076 -1.486 2.657 -1.101 1.621 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=81 env0 dist=0.4739 force=0.0000 - approach step= 40/100 pre_dist=0.119m tip_dist=0.444m q=[ 0.177 -1.384 2.645 -1.107 1.626 0.011] - approach step= 60/100 pre_dist=0.082m tip_dist=0.412m q=[ 0.281 -1.259 2.620 -1.119 1.606 0.020] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=121 env0 dist=0.4146 force=0.0000 - approach step= 80/100 pre_dist=0.044m tip_dist=0.381m q=[ 0.380 -1.113 2.581 -1.135 1.562 0.030] - [APPROACH DONE] reached pre-press at step 96 dist_to_pre=0.0145m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=161 env0 dist=0.3588 force=0.0000 - press step= 20 dist=0.3285m force=0.000N stall=0 q=[ 0.475 -0.841 2.490 -1.169 1.430 0.048] - press step= 40 dist=0.2920m force=0.000N stall=0 q=[ 0.499 -0.645 2.414 -1.194 1.330 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=201 env0 dist=0.2859 force=0.0000 - press step= 60 dist=0.2552m force=0.000N stall=0 q=[ 0.507 -0.445 2.323 -1.220 1.243 0.072] - press step= 80 dist=0.2182m force=0.000N stall=0 q=[ 0.500 -0.247 2.217 -1.248 1.176 0.083] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=241 env0 dist=0.2103 force=0.0000 - press step= 100 dist=0.1810m force=0.000N stall=0 q=[ 0.483 -0.056 2.098 -1.279 1.127 0.095] - press step= 120 dist=0.1439m force=0.000N stall=0 q=[ 0.459 0.125 1.967 -1.310 1.095 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=281 env0 dist=0.1354 force=0.0000 - press step= 140 dist=0.1072m force=0.000N stall=0 q=[ 0.433 0.296 1.823 -1.343 1.078 0.119] - press step= 160 dist=0.0709m force=0.000N stall=0 q=[ 0.405 0.462 1.665 -1.375 1.073 0.131] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=321 env0 dist=0.0634 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=234.959N dist=0.0460 - [PRESSED] force-contact at step 177 force=234.959N dist=0.0420m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=361 env0 dist=0.0458 force=3.2029 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.041 panels=8 -[AUTO_PRESS] count=401 env0 dist=0.1056 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.274 panels=8 -[AUTO_PRESS] count=441 env0 dist=0.1785 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.508 panels=8 -[AUTO_PRESS] count=481 env0 dist=0.2519 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.741 panels=8 -[AUTO_PRESS] count=521 env0 dist=0.3259 force=0.0000 - pre-press reached at step 166 dist=0.0136m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.974 panels=8 -[AUTO_PRESS] count=561 env0 dist=0.3880 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=601 env0 dist=0.4493 force=0.0000 - home reached at step 98 dist=0.0142m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=641 env0 dist=0.4993 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=681 env0 dist=0.4993 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=721 env0 dist=0.4993 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=761 env0 dist=0.4993 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0420 m -[RESULT] final_dist : 0.5028 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_29.hdf5 -============================================================ -2026-04-23T03:26:17Z [16,368ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:26:17Z [16,368ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:26:20Z [18,925ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:30:21Z [259,963ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:30:21Z [259,965ms] [Warning] [omni.graph.core.plugin] Could not find category 'animation' for removal -2026-04-23T03:30:21Z [259,966ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:30:21Z [260,039ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:30:21Z [260,114ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_30.hdf5 b/v02/demo_30.hdf5 deleted file mode 100644 index 648e4eb75f86dc9a14aae5f25cbad0cfce50eb9a..0000000000000000000000000000000000000000 --- a/v02/demo_30.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8c91ba76d757201f555ae89c8fc6bcddc6c4ee9871c6d4e25a06dd6668ca4cfd -size 2094770402 diff --git a/v02/demo_30.log b/v02/demo_30.log deleted file mode 100644 index dd9382aa6f9f9ad347092e94bd3d67c552139a05..0000000000000000000000000000000000000000 --- a/v02/demo_30.log +++ /dev/null @@ -1,277 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_30.hdf5 -Setting seed: 30 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 30 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.372773 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.422578 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 6 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.205 dir=-1.0 travel=0.410 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.205 dir=1.0 travel=0.410 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1768, -0.6578, 1.13] -[SETUP] robot_w pos = [0.6105, -0.7041, 0.908] yaw=0.000 -[SETUP] button_base = [0.5664, 0.0463, 0.222] -[SETUP] pre_press_b = [0.3, 0.0463, 0.332] -[SETUP] press_b = [0.6014, 0.0463, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.823, 0.263, 2.387, -2.65, 0.748, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4578 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4578 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.7753999829292297, -0.8205000162124634, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.185m tip_dist=0.432m q=[ 0.089 -1.491 2.662 -1.099 1.646 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4282 force=0.0000 - approach step= 40/100 pre_dist=0.149m tip_dist=0.402m q=[ 0.193 -1.405 2.648 -1.106 1.670 0.010] - approach step= 60/100 pre_dist=0.112m tip_dist=0.372m q=[ 0.301 -1.293 2.625 -1.116 1.670 0.018] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3740 force=0.0000 - approach step= 80/100 pre_dist=0.075m tip_dist=0.342m q=[ 0.407 -1.161 2.590 -1.131 1.647 0.027] - approach step=100/100 pre_dist=0.037m tip_dist=0.314m q=[ 0.505 -1.011 2.542 -1.151 1.607 0.037] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3215 force=0.0000 - press step= 20 dist=0.2807m force=0.000N stall=0 q=[ 0.536 -0.846 2.487 -1.170 1.512 0.047] - press step= 40 dist=0.2438m force=0.000N stall=0 q=[ 0.557 -0.659 2.417 -1.193 1.415 0.058] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2483 force=0.0000 - press step= 60 dist=0.2068m force=0.000N stall=0 q=[ 0.566 -0.466 2.333 -1.218 1.330 0.069] - press step= 80 dist=0.1698m force=0.000N stall=0 q=[ 0.563 -0.275 2.235 -1.245 1.261 0.080] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1726 force=0.0000 - press step= 100 dist=0.1327m force=0.000N stall=0 q=[ 0.550 -0.088 2.125 -1.275 1.208 0.091] - press step= 120 dist=0.0957m force=0.000N stall=0 q=[ 0.530 0.091 2.002 -1.305 1.170 0.102] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0979 force=0.0000 - press step= 140 dist=0.0587m force=0.000N stall=0 q=[ 0.507 0.262 1.866 -1.337 1.146 0.114] -[AUTO_PRESS] PRESS TRIGGERED env0 force=3.911N dist=0.0478 - [PRESSED] force-contact at step 149 force=3.911N dist=0.0422m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0482 force=2.0085 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0853 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1593 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2344 force=0.0000 - pre-press reached at step 129 dist=0.0135m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.017 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3017 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.251 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3553 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.484 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4137 force=0.0000 - home reached at step 117 dist=0.0135m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.718 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4588 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.951 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4577 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4578 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4578 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0422 m -[RESULT] final_dist : 0.4637 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_30.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_032827.log -2026-04-23T03:28:27Z [295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:27Z [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) -2026-04-23T03:28:27Z [309ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87054 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:28:28Z [852ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:28:28Z [1,249ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:28Z [1,249ms] [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) -2026-04-23T03:28:28Z [1,263ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:28Z [1,263ms] [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) -2026-04-23T03:28:28Z [1,268ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:28Z [1,268ms] [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) -2026-04-23T03:28:28Z [1,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:28Z [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) -2026-04-23T03:28:28Z [1,274ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:28Z [1,274ms] [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) -2026-04-23T03:28:28Z [1,275ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:28:28Z [1,275ms] [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) -2026-04-23T03:28:28Z [1,407ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:28:29Z [1,620ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:28:29Z [1,627ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T03:28:30Z [3,217ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:28:30Z [3,317ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:28:30Z [3,317ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:28:30Z [3,318ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:28:34Z [6,963ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T03:28:37Z [9,910ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:28:37Z [9,910ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:28:40Z [12,562ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,214ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,215ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:31:57Z [210,215ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:31:57Z [210,217ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:31:57Z [210,291ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:31:57Z [210,321ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_31.hdf5 b/v02/demo_31.hdf5 deleted file mode 100644 index 557cdf60bf152c406026e420eec93532ca357131..0000000000000000000000000000000000000000 --- a/v02/demo_31.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1aea07539c1393ade76241a83e556a3dae3e375d736f1aaff6347aeb0fed5bc9 -size 2387157472 diff --git a/v02/demo_31.log b/v02/demo_31.log deleted file mode 100644 index 1c66409f345e46e7c6a3394d0e5068e2423049a3..0000000000000000000000000000000000000000 --- a/v02/demo_31.log +++ /dev/null @@ -1,281 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_31.hdf5 -Setting seed: 31 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 31 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.066075 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.396016 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.219 dir=-1.0 travel=0.438 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.219 dir=1.0 travel=0.438 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6839, 0.8001, 1.13] -[SETUP] robot_w pos = [0.0352, 0.8292, 0.908] yaw=0.000 -[SETUP] button_base = [0.6487, -0.0292, 0.222] -[SETUP] pre_press_b = [0.3, -0.0292, 0.332] -[SETUP] press_b = [0.6837, -0.0292, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.456, 0.252, 2.404, -2.657, 1.115, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5163 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5163 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.20020000636577606, 0.7128000259399414, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.136m tip_dist=0.485m q=[ 0.089 -1.460 2.657 -1.102 1.608 0.006] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4837 force=0.0000 - approach step= 40/100 pre_dist=0.100m tip_dist=0.453m q=[ 0.188 -1.343 2.636 -1.111 1.590 0.014] - approach step= 60/100 pre_dist=0.063m tip_dist=0.420m q=[ 0.286 -1.204 2.605 -1.125 1.550 0.024] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4224 force=0.0000 - approach step= 80/100 pre_dist=0.026m tip_dist=0.387m q=[ 0.376 -1.045 2.560 -1.143 1.492 0.034] - [APPROACH DONE] reached pre-press at step 86 dist_to_pre=0.0145m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3581 force=0.0000 - press step= 20 dist=0.3456m force=0.000N stall=0 q=[ 0.433 -0.823 2.481 -1.170 1.376 0.049] - press step= 40 dist=0.3090m force=0.000N stall=0 q=[ 0.455 -0.622 2.400 -1.195 1.280 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2824 force=0.0000 - press step= 60 dist=0.2722m force=0.000N stall=0 q=[ 0.461 -0.419 2.304 -1.222 1.202 0.073] - press step= 80 dist=0.2354m force=0.000N stall=0 q=[ 0.452 -0.222 2.193 -1.250 1.143 0.085] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2076 force=0.0000 - press step= 100 dist=0.1985m force=0.000N stall=0 q=[ 0.435 -0.033 2.070 -1.281 1.103 0.097] - press step= 120 dist=0.1616m force=0.000N stall=0 q=[ 0.412 0.145 1.935 -1.312 1.078 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1335 force=0.0000 - press step= 140 dist=0.1250m force=0.000N stall=0 q=[ 0.387 0.315 1.788 -1.344 1.067 0.121] - press step= 160 dist=0.0887m force=0.000N stall=0 q=[ 0.360 0.479 1.628 -1.375 1.068 0.133] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0624 force=0.0000 - press step= 180 dist=0.0531m force=0.000N stall=0 q=[ 0.333 0.641 1.450 -1.404 1.081 0.148] -[AUTO_PRESS] PRESS TRIGGERED env0 force=35.797N dist=0.0462 - [PRESSED] force-contact at step 186 force=35.797N dist=0.0428m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0462 force=0.7316 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1123 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1854 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2596 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.064 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3342 force=0.0000 - pre-press reached at step 173 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.298 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4009 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.531 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4661 force=0.0000 - home reached at step 92 dist=0.0133m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.764 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.5196 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.998 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5161 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5163 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5163 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0428 m -[RESULT] final_dist : 0.5187 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_31.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_033158.log -2026-04-23T03:31:58Z [292ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:58Z [292ms] [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) -2026-04-23T03:31:58Z [304ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87084 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:31:59Z [814ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:31:59Z [1,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:59Z [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) -2026-04-23T03:31:59Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:59Z [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) -2026-04-23T03:31:59Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:59Z [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) -2026-04-23T03:31:59Z [1,218ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:59Z [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) -2026-04-23T03:31:59Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:59Z [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) -2026-04-23T03:31:59Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:31:59Z [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) -2026-04-23T03:31:59Z [1,360ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:32:00Z [1,567ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:32:00Z [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. -2026-04-23T03:32:01Z [3,168ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:32:01Z [3,275ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:32:01Z [3,275ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:32:01Z [3,275ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:32:05Z [6,910ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T03:32:07Z [9,517ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:32:07Z [9,517ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:32:10Z [12,210ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:35:47Z [229,375ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:35:47Z [229,378ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:35:47Z [229,452ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:35:48Z [229,541ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_32.hdf5 b/v02/demo_32.hdf5 deleted file mode 100644 index e87ef551d43f617e28519a9a4c24d8478bc69320..0000000000000000000000000000000000000000 --- a/v02/demo_32.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4b18c45f07bf751a0448cc77dfbbd2f3790022c35861e4d45cf105bbbf68e7ef -size 2538208089 diff --git a/v02/demo_32.log b/v02/demo_32.log deleted file mode 100644 index 8b0e73d5b22c912f4412905efa37ea5fccf771a6..0000000000000000000000000000000000000000 --- a/v02/demo_32.log +++ /dev/null @@ -1,283 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_32.hdf5 -Setting seed: 32 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 32 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.361076 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.478926 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 20 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.190 dir=-1.0 travel=0.380 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.190 dir=1.0 travel=0.380 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1634, -0.6609, 1.13] -[SETUP] robot_w pos = [0.5178, -0.6846, 0.908] yaw=0.000 -[SETUP] button_base = [0.6456, 0.0237, 0.222] -[SETUP] pre_press_b = [0.3, 0.0237, 0.332] -[SETUP] press_b = [0.6806, 0.0237, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.725, 0.25, 2.408, -2.658, 0.845, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.5230 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.5230 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.6827999949455261, -0.8009999990463257, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.169m tip_dist=0.496m q=[ 0.089 -1.483 2.661 -1.100 1.636 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4935 force=0.0000 - approach step= 40/100 pre_dist=0.133m tip_dist=0.467m q=[ 0.193 -1.389 2.645 -1.107 1.651 0.011] - approach step= 60/100 pre_dist=0.096m tip_dist=0.436m q=[ 0.300 -1.270 2.620 -1.119 1.640 0.019] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4390 force=0.0000 - approach step= 80/100 pre_dist=0.058m tip_dist=0.406m q=[ 0.402 -1.131 2.583 -1.134 1.608 0.029] - approach step=100/100 pre_dist=0.021m tip_dist=0.378m q=[ 0.494 -0.975 2.532 -1.154 1.559 0.039] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3849 force=0.0000 - press step= 20 dist=0.3443m force=0.000N stall=0 q=[ 0.522 -0.803 2.468 -1.177 1.460 0.050] - press step= 40 dist=0.3075m force=0.000N stall=0 q=[ 0.538 -0.610 2.388 -1.202 1.362 0.062] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.3118 force=0.0000 - press step= 60 dist=0.2706m force=0.000N stall=0 q=[ 0.540 -0.415 2.295 -1.229 1.280 0.073] - press step= 80 dist=0.2337m force=0.000N stall=0 q=[ 0.530 -0.223 2.188 -1.259 1.216 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2361 force=0.0000 - press step= 100 dist=0.1968m force=0.000N stall=0 q=[ 0.512 -0.039 2.069 -1.289 1.169 0.095] - press step= 120 dist=0.1598m force=0.000N stall=0 q=[ 0.489 0.137 1.938 -1.321 1.137 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1611 force=0.0000 - press step= 140 dist=0.1231m force=0.000N stall=0 q=[ 0.463 0.306 1.794 -1.353 1.119 0.118] - press step= 160 dist=0.0867m force=0.000N stall=0 q=[ 0.436 0.470 1.636 -1.384 1.112 0.131] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0879 force=0.0000 - press step= 180 dist=0.0510m force=0.000N stall=0 q=[ 0.408 0.633 1.461 -1.413 1.118 0.145] -[AUTO_PRESS] PRESS TRIGGERED env0 force=69.281N dist=0.0473 - [PRESSED] force-contact at step 185 force=69.281N dist=0.0429m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0471 force=1.1195 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.0900 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.117 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1625 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.350 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2368 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.583 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3119 force=0.0000 - pre-press reached at step 171 dist=0.0136m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.817 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3790 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4350 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4946 force=0.0000 - home reached at step 108 dist=0.0139m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.5212 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.5232 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.5230 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=801 env0 dist=0.5230 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0429 m -[RESULT] final_dist : 0.5273 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_32.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_033548.log -2026-04-23T03:35:48Z [286ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:48Z [286ms] [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) -2026-04-23T03:35:48Z [298ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87035 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:35:49Z [801ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:35:49Z [1,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:49Z [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) -2026-04-23T03:35:49Z [1,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:49Z [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) -2026-04-23T03:35:49Z [1,207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:49Z [1,207ms] [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) -2026-04-23T03:35:49Z [1,212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:49Z [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) -2026-04-23T03:35:49Z [1,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:49Z [1,213ms] [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) -2026-04-23T03:35:49Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:35:49Z [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) -2026-04-23T03:35:50Z [1,349ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:35:50Z [1,557ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:35:50Z [1,563ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T03:35:51Z [3,163ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:35:51Z [3,274ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:35:51Z [3,274ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:35:51Z [3,274ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:35:55Z [6,836ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -2026-04-23T03:35:58Z [10,096ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:35:58Z [10,096ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:36:01Z [12,778ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:39:39Z [230,566ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:39:39Z [230,569ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:39:39Z [230,643ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:39:39Z [230,723ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_33.hdf5 b/v02/demo_33.hdf5 deleted file mode 100644 index b16011c385a6fb85b290d25946ef464748ff6f5c..0000000000000000000000000000000000000000 --- a/v02/demo_33.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a83b3024d430c90d1a206be47719a2fe80b7dd2c8b629881f44789fba1d40b9f -size 2727186775 diff --git a/v02/demo_33.log b/v02/demo_33.log deleted file mode 100644 index 405e917c9867bb57c08f4d6f4e1dffb7ebf9694c..0000000000000000000000000000000000000000 --- a/v02/demo_33.log +++ /dev/null @@ -1,283 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_33.hdf5 -Setting seed: 33 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 33 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.102159 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.412976 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 16 -[INIT_ELEV] door panels[0] = 8 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameB initial_x=-0.307 dir=-1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameL initial_x=-0.596 dir=1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_FrameT initial_x=-0.307 dir=1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0_Glass initial_x=-0.292 dir=1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameB initial_x=0.307 dir=1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameR initial_x=0.596 dir=1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_FrameT initial_x=0.307 dir=1.0 travel=0.614 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1_Glass initial_x=0.292 dir=1.0 travel=0.614 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.0221, 1.0858, 1.13] -[SETUP] robot_w pos = [0.4461, 1.0487, 0.908] yaw=0.000 -[SETUP] button_base = [0.576, 0.037, 0.222] -[SETUP] pre_press_b = [0.3, 0.037, 0.332] -[SETUP] press_b = [0.611, 0.037, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.785, 0.257, 2.397, -2.654, 0.786, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=1 env0 dist=0.4635 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=41 env0 dist=0.4635 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.6110000014305115, 0.9322999715805054, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.178m tip_dist=0.438m q=[ 0.089 -1.488 2.662 -1.100 1.642 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=81 env0 dist=0.4337 force=0.0000 - approach step= 40/100 pre_dist=0.143m tip_dist=0.408m q=[ 0.193 -1.399 2.647 -1.106 1.663 0.010] - approach step= 60/100 pre_dist=0.105m tip_dist=0.377m q=[ 0.301 -1.284 2.623 -1.117 1.658 0.018] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=121 env0 dist=0.3791 force=0.0000 - approach step= 80/100 pre_dist=0.068m tip_dist=0.347m q=[ 0.405 -1.149 2.587 -1.133 1.632 0.028] - approach step=100/100 pre_dist=0.031m tip_dist=0.319m q=[ 0.501 -0.997 2.538 -1.152 1.588 0.038] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=161 env0 dist=0.3259 force=0.0000 - press step= 20 dist=0.2852m force=0.000N stall=0 q=[ 0.530 -0.830 2.481 -1.172 1.492 0.048] - press step= 40 dist=0.2484m force=0.000N stall=0 q=[ 0.550 -0.641 2.409 -1.195 1.395 0.059] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=201 env0 dist=0.2527 force=0.0000 - press step= 60 dist=0.2113m force=0.000N stall=0 q=[ 0.557 -0.447 2.323 -1.220 1.311 0.071] - press step= 80 dist=0.1744m force=0.000N stall=0 q=[ 0.551 -0.256 2.223 -1.248 1.244 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=241 env0 dist=0.1770 force=0.0000 - press step= 100 dist=0.1373m force=0.000N stall=0 q=[ 0.536 -0.069 2.110 -1.278 1.193 0.093] - press step= 120 dist=0.1003m force=0.000N stall=0 q=[ 0.515 0.109 1.985 -1.309 1.158 0.104] -[AUTO_PRESS] door state=0 progress=0.000 panels=8 -[AUTO_PRESS] count=281 env0 dist=0.1023 force=0.0000 - press step= 140 dist=0.0634m force=0.000N stall=0 q=[ 0.491 0.280 1.847 -1.341 1.135 0.115] -[AUTO_PRESS] PRESS TRIGGERED env0 force=50.683N dist=0.0472 - [PRESSED] force-contact at step 152 force=50.683N dist=0.0419m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=321 env0 dist=0.0476 force=3.6627 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=361 env0 dist=0.0785 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=8 -[AUTO_PRESS] count=401 env0 dist=0.1527 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.082 panels=8 -[AUTO_PRESS] count=441 env0 dist=0.2276 force=0.0000 - pre-press reached at step 134 dist=0.0139m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.315 panels=8 -[AUTO_PRESS] count=481 env0 dist=0.3007 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.548 panels=8 -[AUTO_PRESS] count=521 env0 dist=0.3538 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.782 panels=8 -[AUTO_PRESS] count=561 env0 dist=0.4123 force=0.0000 - home reached at step 113 dist=0.0145m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=601 env0 dist=0.4695 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=641 env0 dist=0.4630 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=681 env0 dist=0.4636 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=8 -[AUTO_PRESS] count=721 env0 dist=0.4635 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0419 m -[RESULT] final_dist : 0.4690 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_33.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_033940.log -2026-04-23T03:39:40Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:40Z [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) -2026-04-23T03:39:40Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87073 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:39:40Z [811ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:39:41Z [1,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:41Z [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) -2026-04-23T03:39:41Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:41Z [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) -2026-04-23T03:39:41Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:41Z [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) -2026-04-23T03:39:41Z [1,225ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:41Z [1,225ms] [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) -2026-04-23T03:39:41Z [1,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:41Z [1,226ms] [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) -2026-04-23T03:39:41Z [1,227ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:39:41Z [1,227ms] [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) -2026-04-23T03:39:41Z [1,359ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:39:41Z [1,563ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:39:41Z [1,569ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T03:39:43Z [3,175ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:39:43Z [3,282ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:39:43Z [3,282ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:39:43Z [3,283ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:39:47Z [6,992ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T03:39:49Z [9,681ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:39:49Z [9,681ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:39:52Z [12,388ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:43:51Z [251,350ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:43:51Z [251,353ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:43:51Z [251,427ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:43:51Z [251,446ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_34.hdf5 b/v02/demo_34.hdf5 deleted file mode 100644 index 218018c59d2ae08ac64bbb13a559e4fe72421e26..0000000000000000000000000000000000000000 --- a/v02/demo_34.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7f57e43d46fd40e2044e05d350fd985c85be307ac012e967e5a4da79853439e5 -size 2509369286 diff --git a/v02/demo_34.log b/v02/demo_34.log deleted file mode 100644 index a84a37a8343199ff1fc49384ef35a7d852e50d9e..0000000000000000000000000000000000000000 --- a/v02/demo_34.log +++ /dev/null @@ -1,278 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_34.hdf5 -Setting seed: 34 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 34 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.068314 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.399843 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.457 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.457 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6839, 0.8376, 1.13] -[SETUP] robot_w pos = [0.0706, 0.8862, 0.908] yaw=0.000 -[SETUP] button_base = [0.6133, -0.0486, 0.222] -[SETUP] pre_press_b = [0.3, -0.0486, 0.332] -[SETUP] press_b = [0.6483, -0.0486, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.349, 0.265, 2.384, -2.649, 1.222, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4809 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4809 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.23549999296665192, 0.7696999907493591, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.127m tip_dist=0.448m q=[ 0.088 -1.450 2.656 -1.102 1.594 0.006] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4468 force=0.0000 - approach step= 40/100 pre_dist=0.091m tip_dist=0.415m q=[ 0.184 -1.324 2.632 -1.113 1.563 0.015] - approach step= 60/100 pre_dist=0.054m tip_dist=0.381m q=[ 0.277 -1.176 2.598 -1.128 1.510 0.026] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3822 force=0.0000 - approach step= 80/100 pre_dist=0.017m tip_dist=0.346m q=[ 0.359 -1.009 2.549 -1.146 1.440 0.037] - [APPROACH DONE] reached pre-press at step 81 dist_to_pre=0.0148m -[PHASE] press (micro-thrust): up to 400 steps - press step= 20 dist=0.3127m force=0.000N stall=0 q=[ 0.399 -0.830 2.487 -1.167 1.344 0.048] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3142 force=0.0000 - press step= 40 dist=0.2762m force=0.000N stall=0 q=[ 0.423 -0.627 2.408 -1.190 1.250 0.060] - press step= 60 dist=0.2393m force=0.000N stall=0 q=[ 0.431 -0.422 2.313 -1.216 1.174 0.073] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2392 force=0.0000 - press step= 80 dist=0.2025m force=0.000N stall=0 q=[ 0.423 -0.222 2.203 -1.244 1.118 0.085] - press step= 100 dist=0.1656m force=0.000N stall=0 q=[ 0.406 -0.032 2.081 -1.273 1.080 0.097] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1647 force=0.0000 - press step= 120 dist=0.1287m force=0.000N stall=0 q=[ 0.384 0.147 1.947 -1.304 1.058 0.109] - press step= 140 dist=0.0921m force=0.000N stall=0 q=[ 0.359 0.318 1.801 -1.336 1.049 0.121] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0914 force=0.0000 - press step= 160 dist=0.0558m force=0.000N stall=0 q=[ 0.333 0.482 1.641 -1.368 1.052 0.134] -[AUTO_PRESS] PRESS TRIGGERED env0 force=52.964N dist=0.0452 - [PRESSED] force-contact at step 168 force=52.964N dist=0.0422m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0452 force=0.9575 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.099 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0822 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.333 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1546 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.566 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2279 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.799 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3022 force=0.0000 - pre-press reached at step 154 dist=0.0147m - [retract-2] pre-press → home -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3710 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4394 force=0.0000 - home reached at step 88 dist=0.0132m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4773 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4813 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4809 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4809 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0422 m -[RESULT] final_dist : 0.4827 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_34.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_034352.log -2026-04-23T03:43:52Z [294ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:52Z [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) -2026-04-23T03:43:52Z [305ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87097 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:43:53Z [812ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:43:53Z [1,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:53Z [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) -2026-04-23T03:43:53Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:53Z [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) -2026-04-23T03:43:53Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:53Z [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) -2026-04-23T03:43:53Z [1,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:53Z [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) -2026-04-23T03:43:53Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:53Z [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) -2026-04-23T03:43:53Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:43:53Z [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) -2026-04-23T03:43:53Z [1,352ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:43:53Z [1,555ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:43:53Z [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. -2026-04-23T03:43:55Z [3,148ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:43:55Z [3,245ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:43:55Z [3,245ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:43:55Z [3,246ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:43:59Z [6,840ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T03:44:01Z [9,457ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:44:01Z [9,457ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:44:04Z [12,171ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:47:41Z [229,670ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:47:41Z [229,673ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:47:41Z [229,745ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:47:42Z [229,840ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_35.hdf5 b/v02/demo_35.hdf5 deleted file mode 100644 index 052ddccc0922c26db81ea74270a4d1b489ec7759..0000000000000000000000000000000000000000 --- a/v02/demo_35.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b3957b1f26d87c51f5c5de20da1368b7d18c9aa535d84284efb9e4d3e08c9228 -size 2164998293 diff --git a/v02/demo_35.log b/v02/demo_35.log deleted file mode 100644 index 0802fc93b6c148b7c48e205b68c9c92cb4f94025..0000000000000000000000000000000000000000 --- a/v02/demo_35.log +++ /dev/null @@ -1,277 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_35.hdf5 -Setting seed: 35 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 35 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.329611 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.446760 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.277 dir=-1.0 travel=0.554 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.277 dir=1.0 travel=0.554 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.7961, -0.9929, 1.13] -[SETUP] robot_w pos = [0.2184, -1.0246, 0.908] yaw=0.000 -[SETUP] button_base = [0.5777, 0.0317, 0.222] -[SETUP] pre_press_b = [0.3, 0.0317, 0.332] -[SETUP] press_b = [0.6127, 0.0317, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.762, 0.254, 2.402, -2.656, 0.809, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4636 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4636 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.3833000063896179, -1.1411000490188599, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.175m tip_dist=0.437m q=[ 0.089 -1.486 2.661 -1.100 1.640 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4336 force=0.0000 - approach step= 40/100 pre_dist=0.139m tip_dist=0.407m q=[ 0.193 -1.395 2.646 -1.107 1.658 0.010] - approach step= 60/100 pre_dist=0.101m tip_dist=0.376m q=[ 0.300 -1.278 2.622 -1.118 1.651 0.019] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3786 force=0.0000 - approach step= 80/100 pre_dist=0.064m tip_dist=0.346m q=[ 0.404 -1.142 2.586 -1.133 1.623 0.028] - approach step=100/100 pre_dist=0.027m tip_dist=0.318m q=[ 0.498 -0.989 2.536 -1.153 1.577 0.039] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3248 force=0.0000 - press step= 20 dist=0.2842m force=0.000N stall=0 q=[ 0.527 -0.821 2.478 -1.173 1.481 0.049] - press step= 40 dist=0.2474m force=0.000N stall=0 q=[ 0.545 -0.631 2.405 -1.196 1.384 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2517 force=0.0000 - press step= 60 dist=0.2104m force=0.000N stall=0 q=[ 0.551 -0.437 2.318 -1.222 1.301 0.071] - press step= 80 dist=0.1734m force=0.000N stall=0 q=[ 0.544 -0.245 2.217 -1.250 1.235 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1760 force=0.0000 - press step= 100 dist=0.1364m force=0.000N stall=0 q=[ 0.528 -0.059 2.103 -1.279 1.185 0.093] - press step= 120 dist=0.0993m force=0.000N stall=0 q=[ 0.506 0.119 1.977 -1.310 1.151 0.105] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1013 force=0.0000 - press step= 140 dist=0.0625m force=0.000N stall=0 q=[ 0.482 0.290 1.838 -1.342 1.129 0.116] -[AUTO_PRESS] PRESS TRIGGERED env0 force=2.146N dist=0.0477 - [PRESSED] force-contact at step 151 force=2.146N dist=0.0424m -[PHASE] hold -[AUTO_PRESS] door state=2 progress=0.017 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0480 force=2.2556 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.251 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0807 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.484 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1547 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.718 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2294 force=0.0000 - pre-press reached at step 135 dist=0.0135m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.951 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3025 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3563 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4153 force=0.0000 - home reached at step 111 dist=0.0143m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4673 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4633 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4636 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4636 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0424 m -[RESULT] final_dist : 0.4688 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_35.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_034742.log -2026-04-23T03:47:42Z [290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:42Z [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) -2026-04-23T03:47:43Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87050 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:47:43Z [796ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:47:43Z [1,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:43Z [1,175ms] [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) -2026-04-23T03:47:43Z [1,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:43Z [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) -2026-04-23T03:47:43Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:43Z [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) -2026-04-23T03:47:43Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:43Z [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) -2026-04-23T03:47:43Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:43Z [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) -2026-04-23T03:47:43Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:47:43Z [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) -2026-04-23T03:47:44Z [1,334ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:47:44Z [1,541ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:47:44Z [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. -2026-04-23T03:47:45Z [3,118ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:47:45Z [3,219ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:47:45Z [3,219ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:47:45Z [3,220ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:47:49Z [6,701ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T03:47:52Z [9,626ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:47:52Z [9,626ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:47:54Z [12,230ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:51:19Z [217,174ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:51:19Z [217,175ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:51:19Z [217,177ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:51:19Z [217,250ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:51:20Z [217,328ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_36.hdf5 b/v02/demo_36.hdf5 deleted file mode 100644 index c04ecd1c0b42c079fe958a26baca30dd4187b077..0000000000000000000000000000000000000000 --- a/v02/demo_36.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e9633f0655b94f4061021cd0513013671e15fa34f5ab55083b2a244c20cbcbaa -size 2518345883 diff --git a/v02/demo_36.log b/v02/demo_36.log deleted file mode 100644 index 993a0f3a02e1e8da99c3284940ec104d5eca13e5..0000000000000000000000000000000000000000 --- a/v02/demo_36.log +++ /dev/null @@ -1,277 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_36.hdf5 -Setting seed: 36 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 36 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.066279 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.377110 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 20 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.261 dir=-1.0 travel=0.522 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.261 dir=1.0 travel=0.522 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.7182, 0.9297, 1.13] -[SETUP] robot_w pos = [0.1539, 0.8989, 0.908] yaw=0.000 -[SETUP] button_base = [0.5643, 0.0307, 0.222] -[SETUP] pre_press_b = [0.3, 0.0307, 0.332] -[SETUP] press_b = [0.5993, 0.0307, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.757, 0.253, 2.403, -2.656, 0.813, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4514 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4514 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.3188000023365021, 0.7825000286102295, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.174m tip_dist=0.425m q=[ 0.089 -1.486 2.661 -1.100 1.640 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4211 force=0.0000 - approach step= 40/100 pre_dist=0.138m tip_dist=0.395m q=[ 0.193 -1.394 2.646 -1.107 1.657 0.010] - approach step= 60/100 pre_dist=0.101m tip_dist=0.364m q=[ 0.300 -1.277 2.622 -1.118 1.650 0.019] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3658 force=0.0000 - approach step= 80/100 pre_dist=0.063m tip_dist=0.334m q=[ 0.404 -1.141 2.585 -1.133 1.621 0.028] - approach step=100/100 pre_dist=0.026m tip_dist=0.305m q=[ 0.498 -0.987 2.535 -1.153 1.575 0.039] -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3118 force=0.0000 - press step= 20 dist=0.2713m force=0.000N stall=0 q=[ 0.526 -0.820 2.479 -1.172 1.479 0.049] - press step= 40 dist=0.2344m force=0.000N stall=0 q=[ 0.545 -0.631 2.407 -1.195 1.383 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2386 force=0.0000 - press step= 60 dist=0.1974m force=0.000N stall=0 q=[ 0.551 -0.436 2.321 -1.220 1.300 0.071] - press step= 80 dist=0.1604m force=0.000N stall=0 q=[ 0.544 -0.244 2.221 -1.248 1.234 0.082] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1630 force=0.0000 - press step= 100 dist=0.1234m force=0.000N stall=0 q=[ 0.528 -0.057 2.108 -1.277 1.185 0.093] - press step= 120 dist=0.0863m force=0.000N stall=0 q=[ 0.506 0.121 1.982 -1.308 1.150 0.104] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0885 force=0.0000 - press step= 140 dist=0.0494m force=0.000N stall=0 q=[ 0.482 0.292 1.844 -1.340 1.129 0.116] -[AUTO_PRESS] PRESS TRIGGERED env0 force=10.390N dist=0.0477 - [PRESSED] force-contact at step 144 force=10.390N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0481 force=1.7361 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0943 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1675 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2428 force=0.0000 - pre-press reached at step 128 dist=0.0139m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.111 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3076 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.344 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3640 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.578 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4245 force=0.0000 - home reached at step 111 dist=0.0139m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.811 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4502 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4514 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4513 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4514 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.4567 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_36.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_035120.log -2026-04-23T03:51:20Z [290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:20Z [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) -2026-04-23T03:51:20Z [303ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87055 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:51:21Z [799ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:51:21Z [1,184ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:21Z [1,184ms] [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) -2026-04-23T03:51:21Z [1,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:21Z [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) -2026-04-23T03:51:21Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:21Z [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) -2026-04-23T03:51:21Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:21Z [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) -2026-04-23T03:51:21Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:21Z [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) -2026-04-23T03:51:21Z [1,209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:51:21Z [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) -2026-04-23T03:51:22Z [1,347ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:51:22Z [1,554ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:51:22Z [1,560ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T03:51:23Z [3,140ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:51:23Z [3,247ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:51:23Z [3,247ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:51:23Z [3,248ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:51:27Z [7,001ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T03:51:30Z [9,586ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:51:30Z [9,586ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:51:32Z [12,197ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:55:20Z [240,142ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:55:20Z [240,144ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:55:20Z [240,216ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:55:20Z [240,237ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_37.hdf5 b/v02/demo_37.hdf5 deleted file mode 100644 index cd67b153598558d5740c9f129c65f8b51b3fff97..0000000000000000000000000000000000000000 --- a/v02/demo_37.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:eab7e811f39df6499471667583708cff8d64616961ba3ab3beb32fd163f69969 -size 2588791649 diff --git a/v02/demo_37.log b/v02/demo_37.log deleted file mode 100644 index 4458bbd7746a5bca2ecbf986532e375e74c5cca5..0000000000000000000000000000000000000000 --- a/v02/demo_37.log +++ /dev/null @@ -1,278 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_37.hdf5 -Setting seed: 37 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 37 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.090223 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.392735 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.228 dir=-1.0 travel=0.457 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.228 dir=1.0 travel=0.457 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6839, 0.8376, 1.13] -[SETUP] robot_w pos = [0.0757, 0.8255, 0.908] yaw=0.000 -[SETUP] button_base = [0.6082, 0.012, 0.222] -[SETUP] pre_press_b = [0.3, 0.012, 0.332] -[SETUP] press_b = [0.6432, 0.012, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.67, 0.246, 2.414, -2.66, 0.9, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4861 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4861 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.24060000479221344, 0.7091000080108643, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.161m tip_dist=0.458m q=[ 0.090 -1.478 2.660 -1.100 1.631 0.005] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4556 force=0.0000 - approach step= 40/100 pre_dist=0.125m tip_dist=0.428m q=[ 0.193 -1.379 2.643 -1.108 1.639 0.012] - approach step= 60/100 pre_dist=0.088m tip_dist=0.397m q=[ 0.298 -1.256 2.617 -1.120 1.623 0.020] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3993 force=0.0000 - approach step= 80/100 pre_dist=0.050m tip_dist=0.366m q=[ 0.398 -1.114 2.579 -1.136 1.586 0.030] - [APPROACH DONE] reached pre-press at step 99 dist_to_pre=0.0148m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3432 force=0.0000 - press step= 20 dist=0.3060m force=0.000N stall=0 q=[ 0.507 -0.798 2.469 -1.176 1.440 0.050] - press step= 40 dist=0.2692m force=0.000N stall=0 q=[ 0.523 -0.604 2.391 -1.200 1.343 0.062] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2692 force=0.0000 - press step= 60 dist=0.2322m force=0.000N stall=0 q=[ 0.526 -0.407 2.300 -1.226 1.263 0.073] - press step= 80 dist=0.1954m force=0.000N stall=0 q=[ 0.516 -0.214 2.193 -1.255 1.200 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1936 force=0.0000 - press step= 100 dist=0.1584m force=0.000N stall=0 q=[ 0.497 -0.029 2.074 -1.285 1.155 0.096] - press step= 120 dist=0.1214m force=0.000N stall=0 q=[ 0.474 0.148 1.943 -1.317 1.125 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1190 force=0.0000 - press step= 140 dist=0.0847m force=0.000N stall=0 q=[ 0.448 0.318 1.800 -1.349 1.108 0.119] - press step= 160 dist=0.0483m force=0.000N stall=0 q=[ 0.420 0.482 1.643 -1.380 1.103 0.131] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0477 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=79.451N dist=0.0470 - [PRESSED] force-contact at step 164 force=79.451N dist=0.0426m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0596 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.227 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1317 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.461 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2065 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.694 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2816 force=0.0000 - pre-press reached at step 151 dist=0.0135m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.928 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3479 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4063 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4681 force=0.0000 - home reached at step 104 dist=0.0140m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4876 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4860 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4861 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0426 m -[RESULT] final_dist : 0.4903 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_37.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_035521.log -2026-04-23T03:55:21Z [287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:21Z [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) -2026-04-23T03:55:21Z [298ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87073 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:55:22Z [797ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:55:22Z [1,181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:22Z [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) -2026-04-23T03:55:22Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:22Z [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) -2026-04-23T03:55:22Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:22Z [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) -2026-04-23T03:55:22Z [1,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:22Z [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) -2026-04-23T03:55:22Z [1,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:22Z [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) -2026-04-23T03:55:22Z [1,206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:55:22Z [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) -2026-04-23T03:55:22Z [1,338ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:55:23Z [1,549ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:55:23Z [1,554ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T03:55:24Z [3,119ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:55:24Z [3,217ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:55:24Z [3,217ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:55:24Z [3,218ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:55:28Z [6,915ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -2026-04-23T03:55:31Z [9,552ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:55:31Z [9,552ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:55:33Z [12,157ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T03:59:23Z [241,701ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T03:59:23Z [241,704ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T03:59:23Z [241,776ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T03:59:23Z [241,843ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_38.hdf5 b/v02/demo_38.hdf5 deleted file mode 100644 index e8a648cbcf1cc44d59324652efd3d893ef136c9e..0000000000000000000000000000000000000000 --- a/v02/demo_38.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a5a5389d70e0387e00a6910bf3d4cfe35847cd39a074d66ffd8871f0d3d215cc -size 2489035783 diff --git a/v02/demo_38.log b/v02/demo_38.log deleted file mode 100644 index e29a682f7e15d89503952bb4c553f097d90c2dc4..0000000000000000000000000000000000000000 --- a/v02/demo_38.log +++ /dev/null @@ -1,280 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_38.hdf5 -Setting seed: 38 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 38 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.064189 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.387146 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.297 dir=-1.0 travel=0.593 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.297 dir=1.0 travel=0.593 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.9593, 1.0567, 1.13] -[SETUP] robot_w pos = [0.339, 1.0433, 0.908] yaw=0.000 -[SETUP] button_base = [0.6203, 0.0134, 0.222] -[SETUP] pre_press_b = [0.3, 0.0134, 0.332] -[SETUP] press_b = [0.6553, 0.0134, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.677, 0.246, 2.414, -2.66, 0.894, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4975 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4975 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.5040000081062317, 0.9269000291824341, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.162m tip_dist=0.470m q=[ 0.090 -1.479 2.660 -1.100 1.632 0.004] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4672 force=0.0000 - approach step= 40/100 pre_dist=0.126m tip_dist=0.440m q=[ 0.193 -1.381 2.643 -1.108 1.641 0.011] - approach step= 60/100 pre_dist=0.089m tip_dist=0.408m q=[ 0.298 -1.258 2.618 -1.120 1.625 0.020] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.4112 force=0.0000 - approach step= 80/100 pre_dist=0.051m tip_dist=0.378m q=[ 0.399 -1.116 2.579 -1.136 1.589 0.030] - [APPROACH DONE] reached pre-press at step 100 dist_to_pre=0.0139m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3554 force=0.0000 - press step= 20 dist=0.3166m force=0.000N stall=0 q=[ 0.511 -0.792 2.466 -1.177 1.440 0.051] - press step= 40 dist=0.2798m force=0.000N stall=0 q=[ 0.526 -0.598 2.387 -1.202 1.343 0.062] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2819 force=0.0000 - press step= 60 dist=0.2429m force=0.000N stall=0 q=[ 0.528 -0.401 2.294 -1.228 1.263 0.074] - press step= 80 dist=0.2060m force=0.000N stall=0 q=[ 0.517 -0.209 2.187 -1.257 1.200 0.085] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.2062 force=0.0000 - press step= 100 dist=0.1690m force=0.000N stall=0 q=[ 0.498 -0.024 2.067 -1.288 1.155 0.096] - press step= 120 dist=0.1321m force=0.000N stall=0 q=[ 0.475 0.152 1.935 -1.319 1.126 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.1315 force=0.0000 - press step= 140 dist=0.0954m force=0.000N stall=0 q=[ 0.448 0.321 1.791 -1.351 1.109 0.119] - press step= 160 dist=0.0590m force=0.000N stall=0 q=[ 0.421 0.486 1.633 -1.383 1.104 0.132] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0593 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=75.317N dist=0.0471 - [PRESSED] force-contact at step 170 force=75.317N dist=0.0427m -[PHASE] hold -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0479 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.140 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1184 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.373 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.1926 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.607 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.2677 force=0.0000 - pre-press reached at step 157 dist=0.0145m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.840 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3407 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.3973 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4580 force=0.0000 - home reached at step 105 dist=0.0134m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4945 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4977 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4974 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=761 env0 dist=0.4975 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0427 m -[RESULT] final_dist : 0.5016 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_38.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_035924.log -2026-04-23T03:59:24Z [283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:24Z [283ms] [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) -2026-04-23T03:59:24Z [296ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87077 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T03:59:24Z [785ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T03:59:25Z [1,161ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:25Z [1,161ms] [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) -2026-04-23T03:59:25Z [1,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:25Z [1,175ms] [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) -2026-04-23T03:59:25Z [1,180ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:25Z [1,180ms] [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) -2026-04-23T03:59:25Z [1,184ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:25Z [1,184ms] [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) -2026-04-23T03:59:25Z [1,185ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:25Z [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) -2026-04-23T03:59:25Z [1,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T03:59:25Z [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) -2026-04-23T03:59:25Z [1,316ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T03:59:25Z [1,524ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T03:59:25Z [1,530ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T03:59:27Z [3,110ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T03:59:27Z [3,207ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T03:59:27Z [3,207ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T03:59:27Z [3,208ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T03:59:30Z [6,785ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -2026-04-23T03:59:33Z [9,370ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:59:33Z [9,370ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T03:59:36Z [12,037ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:03:18Z [234,327ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:03:18Z [234,330ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:03:18Z [234,402ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:03:18Z [234,435ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_39.hdf5 b/v02/demo_39.hdf5 deleted file mode 100644 index 250f2553f5b517f4c85436b496e2cb224190d22a..0000000000000000000000000000000000000000 --- a/v02/demo_39.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:41868a373e7dc051546bcb4a0c754352b558021398404c29f2ad9540eef5325b -size 2282863287 diff --git a/v02/demo_39.log b/v02/demo_39.log deleted file mode 100644 index c3678af12a06474d19783264ec51834738b1dd65..0000000000000000000000000000000000000000 --- a/v02/demo_39.log +++ /dev/null @@ -1,274 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_39.hdf5 -Setting seed: 39 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 39 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.323631 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.482500 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.199 dir=-1.0 travel=0.398 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.199 dir=1.0 travel=0.398 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1369, -0.6733, 1.13] -[SETUP] robot_w pos = [0.5747, -0.6835, 0.908] yaw=0.000 -[SETUP] button_base = [0.5622, 0.0102, 0.222] -[SETUP] pre_press_b = [0.3, 0.0102, 0.332] -[SETUP] press_b = [0.5972, 0.0102, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.662, 0.246, 2.415, -2.66, 0.909, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4441 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4441 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.7396000027656555, -0.7998999953269958, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.160m tip_dist=0.416m q=[ 0.090 -1.477 2.660 -1.100 1.630 0.005] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4130 force=0.0000 - approach step= 40/100 pre_dist=0.124m tip_dist=0.385m q=[ 0.193 -1.378 2.643 -1.108 1.637 0.012] - approach step= 60/100 pre_dist=0.086m tip_dist=0.353m q=[ 0.298 -1.254 2.617 -1.120 1.620 0.020] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3557 force=0.0000 - approach step= 80/100 pre_dist=0.049m tip_dist=0.322m q=[ 0.397 -1.111 2.578 -1.136 1.582 0.030] - [APPROACH DONE] reached pre-press at step 99 dist_to_pre=0.0136m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2991 force=0.0000 - press step= 20 dist=0.2621m force=0.000N stall=0 q=[ 0.505 -0.797 2.472 -1.174 1.438 0.050] - press step= 40 dist=0.2252m force=0.000N stall=0 q=[ 0.522 -0.605 2.399 -1.197 1.343 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2251 force=0.0000 - press step= 60 dist=0.1882m force=0.000N stall=0 q=[ 0.525 -0.408 2.310 -1.222 1.263 0.073] - press step= 80 dist=0.1513m force=0.000N stall=0 q=[ 0.516 -0.214 2.207 -1.250 1.200 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1496 force=0.0000 - press step= 100 dist=0.1142m force=0.000N stall=0 q=[ 0.498 -0.027 2.091 -1.279 1.155 0.095] - press step= 120 dist=0.0772m force=0.000N stall=0 q=[ 0.474 0.151 1.963 -1.310 1.124 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0757 force=0.0000 -[AUTO_PRESS] PRESS TRIGGERED env0 force=6.044N dist=0.0476 - [PRESSED] force-contact at step 139 force=6.044N dist=0.0423m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0480 force=1.1521 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1056 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1792 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.076 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2547 force=0.0000 - pre-press reached at step 127 dist=0.0143m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.309 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3172 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.543 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3775 force=0.0000 - home reached at step 104 dist=0.0136m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.776 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4425 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4442 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4441 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4441 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0423 m -[RESULT] final_dist : 0.4486 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_39.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_040319.log -2026-04-23T04:03:19Z [292ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:19Z [292ms] [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) -2026-04-23T04:03:19Z [304ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87071 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T04:03:20Z [810ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T04:03:20Z [1,190ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:20Z [1,190ms] [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) -2026-04-23T04:03:20Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:20Z [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) -2026-04-23T04:03:20Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:20Z [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) -2026-04-23T04:03:20Z [1,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:20Z [1,213ms] [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) -2026-04-23T04:03:20Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:20Z [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) -2026-04-23T04:03:20Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:03:20Z [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) -2026-04-23T04:03:20Z [1,352ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T04:03:20Z [1,557ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T04:03:20Z [1,563ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T04:03:22Z [3,125ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T04:03:22Z [3,260ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T04:03:22Z [3,260ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T04:03:22Z [3,261ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T04:03:26Z [6,974ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T04:03:29Z [9,926ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:03:29Z [9,926ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:03:31Z [12,581ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:06:55Z [216,386ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:06:55Z [216,389ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:06:55Z [216,462ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:06:55Z [216,529ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_40.hdf5 b/v02/demo_40.hdf5 deleted file mode 100644 index 346e5eca566a90e557e61cf99984b44cc8d84e10..0000000000000000000000000000000000000000 --- a/v02/demo_40.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:787e8b6d2d5c15a3d53cf76b3a859bb16ee6ab29e85ca3c7d0a3919863cbaf91 -size 2033126776 diff --git a/v02/demo_40.log b/v02/demo_40.log deleted file mode 100644 index d4fe89c6fcd49a5b683a5cbfa12b076108491e7d..0000000000000000000000000000000000000000 --- a/v02/demo_40.log +++ /dev/null @@ -1,275 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_40.hdf5 -Setting seed: 40 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 40 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.094298 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.416820 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.204 dir=-1.0 travel=0.408 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.204 dir=1.0 travel=0.408 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1365, -0.6706, 1.13] -[SETUP] robot_w pos = [0.5578, -0.6656, 0.908] yaw=0.000 -[SETUP] button_base = [0.5787, -0.005, 0.222] -[SETUP] pre_press_b = [0.3, -0.005, 0.332] -[SETUP] press_b = [0.6137, -0.005, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.585, 0.245, 2.416, -2.661, 0.985, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4556 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4556 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.7226999998092651, -0.7821000218391418, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.150m tip_dist=0.427m q=[ 0.090 -1.471 2.659 -1.101 1.622 0.005] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4239 force=0.0000 - approach step= 40/100 pre_dist=0.114m tip_dist=0.395m q=[ 0.192 -1.365 2.640 -1.109 1.621 0.013] - approach step= 60/100 pre_dist=0.077m tip_dist=0.363m q=[ 0.294 -1.236 2.613 -1.122 1.595 0.022] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3652 force=0.0000 - approach step= 80/100 pre_dist=0.039m tip_dist=0.331m q=[ 0.391 -1.087 2.572 -1.139 1.550 0.032] - [APPROACH DONE] reached pre-press at step 94 dist_to_pre=0.0133m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3058 force=0.0000 - press step= 20 dist=0.2776m force=0.000N stall=0 q=[ 0.478 -0.808 2.477 -1.172 1.415 0.049] - press step= 40 dist=0.2409m force=0.000N stall=0 q=[ 0.496 -0.612 2.401 -1.195 1.319 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2305 force=0.0000 - press step= 60 dist=0.2039m force=0.000N stall=0 q=[ 0.501 -0.412 2.311 -1.221 1.240 0.073] - press step= 80 dist=0.1670m force=0.000N stall=0 q=[ 0.492 -0.217 2.206 -1.249 1.179 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1553 force=0.0000 - press step= 100 dist=0.1300m force=0.000N stall=0 q=[ 0.474 -0.029 2.087 -1.278 1.135 0.096] - press step= 120 dist=0.0931m force=0.000N stall=0 q=[ 0.451 0.150 1.957 -1.310 1.107 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0815 force=0.0000 - press step= 140 dist=0.0563m force=0.000N stall=0 q=[ 0.425 0.320 1.814 -1.342 1.091 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=50.089N dist=0.0467 - [PRESSED] force-contact at step 148 force=50.089N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0468 force=1.2577 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=2 progress=0.041 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0974 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.274 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1701 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.508 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2449 force=0.0000 - pre-press reached at step 136 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.741 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3142 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.974 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3753 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4393 force=0.0000 - home reached at step 99 dist=0.0135m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4572 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4555 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4556 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.4594 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_40.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_040656.log -2026-04-23T04:06:56Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:56Z [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) -2026-04-23T04:06:56Z [302ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87052 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T04:06:57Z [815ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T04:06:57Z [1,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:57Z [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) -2026-04-23T04:06:57Z [1,218ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:57Z [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) -2026-04-23T04:06:57Z [1,223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:57Z [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) -2026-04-23T04:06:57Z [1,228ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:57Z [1,228ms] [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) -2026-04-23T04:06:57Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:57Z [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) -2026-04-23T04:06:57Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:06:57Z [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) -2026-04-23T04:06:57Z [1,360ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T04:06:57Z [1,564ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T04:06:57Z [1,570ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T04:06:59Z [3,167ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T04:06:59Z [3,271ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T04:06:59Z [3,272ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T04:06:59Z [3,272ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T04:07:03Z [6,822ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 - -2026-04-23T04:07:05Z [9,491ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:07:05Z [9,491ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:07:08Z [12,221ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:10:22Z [206,572ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,572ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,572ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:10:22Z [206,572ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,572ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,572ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:10:22Z [206,573ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:10:22Z [206,575ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:10:23Z [206,650ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:10:23Z [206,729ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_41.hdf5 b/v02/demo_41.hdf5 deleted file mode 100644 index c7a7d33d7f068d27580b12132b00b320b2cc93c9..0000000000000000000000000000000000000000 --- a/v02/demo_41.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3064394a9af1123510293e341cf88b987ae22fad95737096e5267dcb750f0320 -size 1893439116 diff --git a/v02/demo_41.log b/v02/demo_41.log deleted file mode 100644 index 75baeac6bce018ba588f5c7b23c21c05fc49f11e..0000000000000000000000000000000000000000 --- a/v02/demo_41.log +++ /dev/null @@ -1,272 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_41.hdf5 -Setting seed: 41 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 41 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.099234 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.412202 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 9 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.207 dir=-1.0 travel=0.414 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.207 dir=1.0 travel=0.414 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [1.1203, -0.6419, 1.13] -[SETUP] robot_w pos = [0.566, -0.6036, 0.908] yaw=0.000 -[SETUP] button_base = [0.5543, -0.0384, 0.222] -[SETUP] pre_press_b = [0.3, -0.0384, 0.332] -[SETUP] press_b = [0.5893, -0.0384, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.406, 0.258, 2.396, -2.653, 1.165, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4277 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4277 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.73089998960495, -0.7200000286102295, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.131m tip_dist=0.396m q=[ 0.088 -1.455 2.657 -1.102 1.602 0.006] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.3938 force=0.0000 - approach step= 40/100 pre_dist=0.096m tip_dist=0.363m q=[ 0.186 -1.334 2.634 -1.112 1.578 0.015] - approach step= 60/100 pre_dist=0.058m tip_dist=0.329m q=[ 0.282 -1.191 2.601 -1.126 1.532 0.025] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3305 force=0.0000 - approach step= 80/100 pre_dist=0.021m tip_dist=0.295m q=[ 0.368 -1.028 2.555 -1.144 1.468 0.036] - [APPROACH DONE] reached pre-press at step 84 dist_to_pre=0.0138m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2643 force=0.0000 - press step= 20 dist=0.2564m force=0.000N stall=0 q=[ 0.417 -0.828 2.490 -1.166 1.363 0.048] - press step= 40 dist=0.2197m force=0.000N stall=0 q=[ 0.440 -0.629 2.416 -1.188 1.270 0.060] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.1888 force=0.0000 - press step= 60 dist=0.1828m force=0.000N stall=0 q=[ 0.448 -0.424 2.327 -1.212 1.193 0.072] - press step= 80 dist=0.1459m force=0.000N stall=0 q=[ 0.441 -0.224 2.222 -1.238 1.135 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1145 force=0.0000 - press step= 100 dist=0.1089m force=0.000N stall=0 q=[ 0.425 -0.033 2.104 -1.267 1.095 0.096] - press step= 120 dist=0.0720m force=0.000N stall=0 q=[ 0.402 0.148 1.974 -1.298 1.071 0.107] -[AUTO_PRESS] PRESS TRIGGERED env0 force=68.793N dist=0.0456 - [PRESSED] force-contact at step 137 force=68.793N dist=0.0420m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0458 force=0.5019 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0615 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1333 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.2073 force=0.0000 - pre-press reached at step 124 dist=0.0140m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.233 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2803 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.467 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3462 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.700 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.4142 force=0.0000 - home reached at step 89 dist=0.0149m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.933 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4293 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4276 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4277 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0420 m -[RESULT] final_dist : 0.4303 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_41.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_041023.log -2026-04-23T04:10:24Z [298ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:24Z [298ms] [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) -2026-04-23T04:10:24Z [311ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87065 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T04:10:24Z [818ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T04:10:25Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:25Z [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) -2026-04-23T04:10:25Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:25Z [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) -2026-04-23T04:10:25Z [1,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:25Z [1,226ms] [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) -2026-04-23T04:10:25Z [1,231ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:25Z [1,231ms] [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) -2026-04-23T04:10:25Z [1,232ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:25Z [1,232ms] [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) -2026-04-23T04:10:25Z [1,233ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:10:25Z [1,233ms] [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) -2026-04-23T04:10:25Z [1,365ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T04:10:25Z [1,575ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T04:10:25Z [1,581ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T04:10:27Z [3,179ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T04:10:27Z [3,282ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T04:10:27Z [3,282ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T04:10:27Z [3,283ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T04:10:30Z [6,827ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T04:10:33Z [9,501ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:10:33Z [9,501ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:10:35Z [12,139ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:13:30Z [187,165ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:13:30Z [187,168ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:13:31Z [187,240ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:13:31Z [187,330ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_42.hdf5 b/v02/demo_42.hdf5 deleted file mode 100644 index 6a9d5850382e121b28cdb7d88d96f12ca4e20dc9..0000000000000000000000000000000000000000 --- a/v02/demo_42.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f743dd6a9e648128acffb175b36ea411b116878341216dda704fbde4a9b215ba -size 2248112212 diff --git a/v02/demo_42.log b/v02/demo_42.log deleted file mode 100644 index b23758fe8095c12c582da24b3f5c3883753b09b5..0000000000000000000000000000000000000000 --- a/v02/demo_42.log +++ /dev/null @@ -1,278 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_42.hdf5 -Setting seed: 42 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 42 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.027718 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.429862 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 8 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.229 dir=-1.0 travel=0.459 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.229 dir=1.0 travel=0.459 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.6062, -0.8211, 1.13] -[SETUP] robot_w pos = [-0.0037, -0.7867, 0.908] yaw=0.000 -[SETUP] button_base = [0.6099, -0.0344, 0.222] -[SETUP] pre_press_b = [0.3, -0.0344, 0.332] -[SETUP] press_b = [0.6449, -0.0344, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.428, 0.255, 2.4, -2.655, 1.143, -0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4794 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4794 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.16120000183582306, -0.9031999707221985, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.133m tip_dist=0.448m q=[ 0.089 -1.457 2.657 -1.102 1.604 0.006] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4461 force=0.0000 - approach step= 40/100 pre_dist=0.098m tip_dist=0.416m q=[ 0.187 -1.338 2.635 -1.112 1.583 0.014] - approach step= 60/100 pre_dist=0.060m tip_dist=0.382m q=[ 0.284 -1.196 2.603 -1.126 1.540 0.024] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3837 force=0.0000 - approach step= 80/100 pre_dist=0.023m tip_dist=0.348m q=[ 0.372 -1.035 2.557 -1.144 1.478 0.035] - [APPROACH DONE] reached pre-press at step 85 dist_to_pre=0.0138m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3184 force=0.0000 - press step= 20 dist=0.3082m force=0.000N stall=0 q=[ 0.425 -0.823 2.483 -1.169 1.367 0.049] - press step= 40 dist=0.2716m force=0.000N stall=0 q=[ 0.447 -0.622 2.405 -1.193 1.272 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2428 force=0.0000 - press step= 60 dist=0.2347m force=0.000N stall=0 q=[ 0.454 -0.418 2.311 -1.218 1.195 0.073] - press step= 80 dist=0.1979m force=0.000N stall=0 q=[ 0.445 -0.220 2.202 -1.246 1.137 0.085] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1681 force=0.0000 - press step= 100 dist=0.1610m force=0.000N stall=0 q=[ 0.428 -0.031 2.080 -1.276 1.097 0.096] - press step= 120 dist=0.1241m force=0.000N stall=0 q=[ 0.405 0.149 1.947 -1.307 1.073 0.108] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0945 force=0.0000 - press step= 140 dist=0.0874m force=0.000N stall=0 q=[ 0.380 0.319 1.801 -1.339 1.062 0.120] - press step= 160 dist=0.0511m force=0.000N stall=0 q=[ 0.354 0.483 1.642 -1.371 1.063 0.133] -[AUTO_PRESS] PRESS TRIGGERED env0 force=28.235N dist=0.0458 - [PRESSED] force-contact at step 165 force=28.235N dist=0.0423m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0460 force=0.6804 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0811 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1536 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.029 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2271 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.262 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3017 force=0.0000 - pre-press reached at step 152 dist=0.0148m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.496 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3685 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.729 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4351 force=0.0000 - home reached at step 91 dist=0.0137m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.963 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4772 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4796 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4794 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=721 env0 dist=0.4794 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0423 m -[RESULT] final_dist : 0.4818 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_42.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_041331.log -2026-04-23T04:13:32Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:32Z [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) -2026-04-23T04:13:32Z [301ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87004 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T04:13:32Z [797ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T04:13:33Z [1,180ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:33Z [1,180ms] [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) -2026-04-23T04:13:33Z [1,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:33Z [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) -2026-04-23T04:13:33Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:33Z [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) -2026-04-23T04:13:33Z [1,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:33Z [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) -2026-04-23T04:13:33Z [1,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:33Z [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) -2026-04-23T04:13:33Z [1,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:13:33Z [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) -2026-04-23T04:13:33Z [1,337ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T04:13:33Z [1,555ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T04:13:33Z [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. -2026-04-23T04:13:35Z [3,196ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T04:13:35Z [3,292ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T04:13:35Z [3,293ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T04:13:35Z [3,293ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T04:13:38Z [6,843ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T04:13:41Z [9,476ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:13:41Z [9,476ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:13:44Z [12,199ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:17:16Z [224,389ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,389ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,389ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:17:16Z [224,390ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:17:16Z [224,393ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:17:16Z [224,492ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:17:16Z [224,530ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_43.hdf5 b/v02/demo_43.hdf5 deleted file mode 100644 index 3f2fa3e8743658222aec2a062e1cb25af524c1c8..0000000000000000000000000000000000000000 --- a/v02/demo_43.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:040fa1bee67cfeb85ea2b2c8c213e80fc4644b3bdd32cc3946f930a19df878d1 -size 2221621661 diff --git a/v02/demo_43.log b/v02/demo_43.log deleted file mode 100644 index e3b11af4dd802d56c67826e0407c18a34bc5e2f6..0000000000000000000000000000000000000000 --- a/v02/demo_43.log +++ /dev/null @@ -1,275 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_43.hdf5 -Setting seed: 43 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 43 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.096676 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.398402 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 7 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.237 dir=-1.0 travel=0.473 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.237 dir=1.0 travel=0.473 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.4409, 0.7423, 1.13] -[SETUP] robot_w pos = [-0.1331, 0.7596, 0.908] yaw=0.000 -[SETUP] button_base = [0.5741, -0.0173, 0.222] -[SETUP] pre_press_b = [0.3, -0.0173, 0.332] -[SETUP] press_b = [0.6091, -0.0173, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.521, 0.247, 2.412, -2.659, 1.05, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4490 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4490 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.03180000185966492, 0.6431000232696533, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.142m tip_dist=0.419m q=[ 0.090 -1.465 2.658 -1.101 1.615 0.005] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4166 force=0.0000 - approach step= 40/100 pre_dist=0.107m tip_dist=0.387m q=[ 0.190 -1.354 2.638 -1.110 1.606 0.013] - approach step= 60/100 pre_dist=0.069m tip_dist=0.354m q=[ 0.291 -1.220 2.609 -1.123 1.573 0.023] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3563 force=0.0000 - approach step= 80/100 pre_dist=0.032m tip_dist=0.322m q=[ 0.384 -1.066 2.566 -1.141 1.521 0.033] - [APPROACH DONE] reached pre-press at step 90 dist_to_pre=0.0135m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.2944 force=0.0000 - press step= 20 dist=0.2738m force=0.000N stall=0 q=[ 0.455 -0.817 2.482 -1.170 1.396 0.049] - press step= 40 dist=0.2371m force=0.000N stall=0 q=[ 0.476 -0.620 2.407 -1.193 1.301 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2185 force=0.0000 - press step= 60 dist=0.2002m force=0.000N stall=0 q=[ 0.481 -0.418 2.317 -1.218 1.223 0.072] - press step= 80 dist=0.1633m force=0.000N stall=0 q=[ 0.473 -0.221 2.211 -1.245 1.163 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1437 force=0.0000 - press step= 100 dist=0.1263m force=0.000N stall=0 q=[ 0.456 -0.032 2.093 -1.275 1.120 0.096] - press step= 120 dist=0.0894m force=0.000N stall=0 q=[ 0.433 0.148 1.962 -1.306 1.093 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0704 force=0.0000 - press step= 140 dist=0.0526m force=0.000N stall=0 q=[ 0.407 0.318 1.819 -1.338 1.079 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=49.507N dist=0.0464 - [PRESSED] force-contact at step 146 force=49.507N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0465 force=1.3069 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.1071 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.064 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1805 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.298 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2555 force=0.0000 - pre-press reached at step 134 dist=0.0135m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.531 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3228 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.764 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3864 force=0.0000 - home reached at step 95 dist=0.0136m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=2 progress=0.998 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4554 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4484 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4491 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4490 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.4524 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_43.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_041717.log -2026-04-23T04:17:17Z [295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:17Z [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) -2026-04-23T04:17:17Z [309ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87059 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T04:17:17Z [825ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T04:17:18Z [1,212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:18Z [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) -2026-04-23T04:17:18Z [1,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:18Z [1,226ms] [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) -2026-04-23T04:17:18Z [1,231ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:18Z [1,231ms] [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) -2026-04-23T04:17:18Z [1,236ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:18Z [1,236ms] [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) -2026-04-23T04:17:18Z [1,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:18Z [1,237ms] [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) -2026-04-23T04:17:18Z [1,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:17:18Z [1,237ms] [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) -2026-04-23T04:17:18Z [1,369ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T04:17:18Z [1,581ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T04:17:18Z [1,587ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T04:17:20Z [3,172ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T04:17:20Z [3,284ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T04:17:20Z [3,284ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T04:17:20Z [3,285ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T04:17:23Z [6,865ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T04:17:26Z [9,537ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:17:26Z [9,537ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:17:29Z [12,222ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:20:53Z [216,834ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:20:53Z [216,837ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:20:53Z [216,909ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:20:54Z [216,986ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/demo_44.hdf5 b/v02/demo_44.hdf5 deleted file mode 100644 index 0bab2469595b721bed61f605c8c796d8504b089e..0000000000000000000000000000000000000000 --- a/v02/demo_44.hdf5 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b5b913dcff1a469ee0c5a0b4e0a5d0e262d6de2aedd432cfc7fa07564f519bee -size 2424409316 diff --git a/v02/demo_44.log b/v02/demo_44.log deleted file mode 100644 index fc87f3eef5f08f3dc4225c24f5d5c2b044ef48eb..0000000000000000000000000000000000000000 --- a/v02/demo_44.log +++ /dev/null @@ -1,275 +0,0 @@ -cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory -/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.) - pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device) -[INFO][AppLauncher]: Using device: cuda:0 -[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit -[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg -[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_44.hdf5 -Setting seed: 44 -[INFO]: Base environment: - Environment device : cuda:0 - Environment seed : 44 - Physics step-size : 0.016666666666666666 - Rendering step-size : 0.016666666666666666 - Environment step-size : 0.016666666666666666 -[INFO]: Time taken for scene creation : 1.297531 seconds -[INFO]: Scene manager: - Number of environments: 1 - Environment spacing : 3.0 - Source prim name : /World/envs/env_0 - Global prim paths : ['/World/GroundPlane'] - Replicate physics : True -[INFO]: Starting the simulation. This may take a few seconds. Please wait... -[INFO]: Time taken for simulation start : 1.478103 seconds -[INFO] Command Manager: contains 0 active terms. -+------------------------+ -| Active Command Terms | -+--------+-------+-------+ -| Index | Name | Type | -+--------+-------+-------+ -+--------+-------+-------+ - -[INFO] Event Manager: contains 3 active terms. -+----------------------------------------+ -| Active Event Terms in Mode: 'startup' | -+---------+------------------------------+ -| Index | Name | -+---------+------------------------------+ -| 0 | robot_physics_material | -| 1 | init_elevator | -+---------+------------------------------+ -+--------------------------------------+ -| Active Event Terms in Mode: 'reset' | -+--------+-----------------------------+ -| Index | Name | -+--------+-----------------------------+ -| 0 | reset_all | -| 1 | randomize_elevator_pose | -| 2 | reset_robot_at_hall_side | -+--------+-----------------------------+ -+-----------------------------------------------------+ -| Active Event Terms in Mode: 'interval' | -+-------+-------------------+-------------------------+ -| Index | Name | Interval time range (s) | -+-------+-------------------+-------------------------+ -| 0 | auto_press_button | (0.0, 0.0) | -+-------+-------------------+-------------------------+ - -[INFO] Recorder Manager: contains 5 active terms. -+--------------------------------------------------+ -| Active Recorder Terms | -+-------+------------------------------------------+ -| Index | Name | -+-------+------------------------------------------+ -| 0 | record_initial_state | -| 1 | record_post_step_states | -| 2 | record_pre_step_actions | -| 3 | record_pre_step_flat_policy_observations | -| 4 | record_post_step_processed_actions | -+-------+------------------------------------------+ - -[INFO] Action Manager: contains 2 active terms. -+------------------------------------+ -| Active Action Terms (shape: 7) | -+-------+----------------+-----------+ -| Index | Name | Dimension | -+-------+----------------+-----------+ -| 0 | arm_action | 6 | -| 1 | gripper_action | 1 | -+-------+----------------+-----------+ - -[INFO] Observation Manager: contains 1 groups. -+-------------------------------------------------------+ -| Active Observation Terms in Group: 'policy' | -+-------+-----------------------------+-----------------+ -| Index | Name | Shape | -+-------+-----------------------------+-----------------+ -| 0 | joint_pos | (10,) | -| 1 | joint_vel | (10,) | -| 2 | eef_pos | (3,) | -| 3 | eef_quat | (4,) | -| 4 | call_button_pos | (3,) | -| 5 | rel_ee_call_button_distance | (3,) | -| 6 | actions | (7,) | -| 7 | cam_wrist | (1200, 1920, 3) | -| 8 | cam_top | (1200, 1920, 3) | -| 9 | call_button_lit | (1,) | -| 10 | cam_belly | (1200, 1920, 3) | -+-------+-----------------------------+-----------------+ - -[INFO] Termination Manager: contains 2 active terms. -+-----------------------------+ -| Active Termination Terms | -+-------+----------+----------+ -| Index | Name | Time Out | -+-------+----------+----------+ -| 0 | time_out | True | -| 1 | success | False | -+-------+----------+----------+ - -[INFO] Reward Manager: contains 1 active terms. -+----------------------------------+ -| Active Reward Terms | -+-------+----------------+---------+ -| Index | Name | Weight | -+-------+----------------+---------+ -| 0 | action_rate_l2 | -0.0001 | -+-------+----------------+---------+ - -[INFO] Curriculum Manager: contains 0 active terms. -+----------------------+ -| Active Curriculum Terms | -+-----------+----------+ -| Index | Name | -+-----------+----------+ -+-----------+----------+ - -[INIT_ELEV] creating Elevator instance... -[INIT_ELEV] done. btn_infos[0] len = 13 -[INIT_ELEV] door panels[0] = 2 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.233 dir=-1.0 travel=0.466 -[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.233 dir=1.0 travel=0.466 -[INFO]: Completed setting up the environment... -[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]] -[SETUP] button_w = [0.4636, 0.7511, 1.13] -[SETUP] robot_w pos = [-0.1224, 0.7651, 0.908] yaw=0.000 -[SETUP] button_base = [0.5861, -0.0141, 0.222] -[SETUP] pre_press_b = [0.3, -0.0141, 0.332] -[SETUP] press_b = [0.6211, -0.0141, 0.332] -[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] -[SETUP] goal_pre_q = [0.538, 0.247, 2.413, -2.66, 1.033, 0.0] ik_err=0.0000m -[PHASE] gripper close -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=1 env0 dist=0.4606 force=0.0000 -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=41 env0 dist=0.4606 force=0.0000 -[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] -[SETUP] home_tip_w = [0.042500000447034836, 0.6486999988555908, 1.2956000566482544] -[PHASE] approach: up to 100 steps - approach step= 20/100 pre_dist=0.144m tip_dist=0.431m q=[ 0.090 -1.467 2.659 -1.101 1.617 0.005] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=81 env0 dist=0.4284 force=0.0000 - approach step= 40/100 pre_dist=0.109m tip_dist=0.399m q=[ 0.191 -1.357 2.639 -1.110 1.610 0.013] - approach step= 60/100 pre_dist=0.071m tip_dist=0.366m q=[ 0.292 -1.224 2.610 -1.123 1.579 0.022] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=121 env0 dist=0.3687 force=0.0000 - approach step= 80/100 pre_dist=0.034m tip_dist=0.334m q=[ 0.386 -1.072 2.568 -1.140 1.529 0.033] - [APPROACH DONE] reached pre-press at step 91 dist_to_pre=0.0135m -[PHASE] press (micro-thrust): up to 400 steps -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=161 env0 dist=0.3074 force=0.0000 - press step= 20 dist=0.2849m force=0.000N stall=0 q=[ 0.461 -0.814 2.480 -1.171 1.401 0.049] - press step= 40 dist=0.2482m force=0.000N stall=0 q=[ 0.481 -0.617 2.403 -1.194 1.305 0.061] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=201 env0 dist=0.2317 force=0.0000 - press step= 60 dist=0.2113m force=0.000N stall=0 q=[ 0.486 -0.416 2.312 -1.220 1.226 0.073] - press step= 80 dist=0.1744m force=0.000N stall=0 q=[ 0.478 -0.219 2.206 -1.248 1.166 0.084] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=241 env0 dist=0.1567 force=0.0000 - press step= 100 dist=0.1374m force=0.000N stall=0 q=[ 0.460 -0.031 2.087 -1.277 1.124 0.096] - press step= 120 dist=0.1005m force=0.000N stall=0 q=[ 0.437 0.148 1.956 -1.309 1.096 0.107] -[AUTO_PRESS] door state=0 progress=0.000 panels=2 -[AUTO_PRESS] count=281 env0 dist=0.0830 force=0.0000 - press step= 140 dist=0.0638m force=0.000N stall=0 q=[ 0.411 0.319 1.812 -1.340 1.082 0.119] -[AUTO_PRESS] PRESS TRIGGERED env0 force=36.813N dist=0.0464 - [PRESSED] force-contact at step 152 force=36.813N dist=0.0421m -[PHASE] hold -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=321 env0 dist=0.0467 force=1.5251 -[PHASE] retract: up to 600 steps - [retract-1] button → pre-press -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=361 env0 dist=0.0954 force=0.0000 -[AUTO_PRESS] door state=1 progress=0.000 panels=2 -[AUTO_PRESS] count=401 env0 dist=0.1679 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.175 panels=2 -[AUTO_PRESS] count=441 env0 dist=0.2423 force=0.0000 - pre-press reached at step 140 dist=0.0136m - [retract-2] pre-press → home -[AUTO_PRESS] door state=2 progress=0.408 panels=2 -[AUTO_PRESS] count=481 env0 dist=0.3139 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.642 panels=2 -[AUTO_PRESS] count=521 env0 dist=0.3759 force=0.0000 -[AUTO_PRESS] door state=2 progress=0.875 panels=2 -[AUTO_PRESS] count=561 env0 dist=0.4406 force=0.0000 - home reached at step 96 dist=0.0136m -[PHASE] home_idle: 150 steps -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=601 env0 dist=0.4618 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=641 env0 dist=0.4605 force=0.0000 -[AUTO_PRESS] door state=3 progress=1.000 panels=2 -[AUTO_PRESS] count=681 env0 dist=0.4606 force=0.0000 - -============================================================ -[RESULT] pressed : True -[RESULT] min_distance : 0.0421 m -[RESULT] final_dist : 0.4639 m -[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_44.hdf5 -============================================================ -Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' -[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260423_042054.log -2026-04-23T04:20:55Z [294ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [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) -2026-04-23T04:20:55Z [306ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. - -|---------------------------------------------------------------------------------------------| -| Driver Version: 580.126.09 | Graphics API: Vulkan -|=============================================================================================| -| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | -| | | | | | Device-ID | UUID | -| | | | | | Bus-ID | | -|---------------------------------------------------------------------------------------------| -| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 | -| | | | | | 2bb5 | 71edab28.. | -| | | | | | 4 | | -|=============================================================================================| -| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic -| Processor: AMD EPYC 9555 64-Core Processor -| Cores: 30 | Logical Cores: 30 -|---------------------------------------------------------------------------------------------| -| Total Memory (MB): 90484 | Free Memory: 87068 -| Total Page/Swap (MB): 0 | Free Page/Swap: 0 -|---------------------------------------------------------------------------------------------| -2026-04-23T04:20:55Z [808ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 -2026-04-23T04:20:55Z [1,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [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) -2026-04-23T04:20:55Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [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) -2026-04-23T04:20:55Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [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) -2026-04-23T04:20:55Z [1,225ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [1,225ms] [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) -2026-04-23T04:20:55Z [1,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [1,226ms] [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) -2026-04-23T04:20:55Z [1,227ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. -2026-04-23T04:20:55Z [1,227ms] [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) -2026-04-23T04:20:56Z [1,359ms] [Warning] [omni.log] Source: omni.hydra was already registered. -2026-04-23T04:20:56Z [1,571ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. -2026-04-23T04:20:56Z [1,577ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. -2026-04-23T04:20:57Z [3,178ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead -2026-04-23T04:20:57Z [3,287ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' -2026-04-23T04:20:57Z [3,287ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' -2026-04-23T04:20:57Z [3,287ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. -2026-04-23T04:21:01Z [6,927ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 - -2026-04-23T04:21:04Z [9,873ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:21:04Z [9,873ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 -2026-04-23T04:21:07Z [12,543ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) -2026-04-23T04:24:47Z [233,286ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,286ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal -2026-04-23T04:24:47Z [233,287ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal -2026-04-23T04:24:48Z [233,289ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! -2026-04-23T04:24:48Z [233,362ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown -2026-04-23T04:24:48Z [233,450ms] [Warning] [carb] Recursive unloadAllPlugins() detected! diff --git a/v02/summary.log b/v02/summary.log deleted file mode 100644 index f559dfe7c3a1d2ecaeaf55067f25f41470f0fc9f..0000000000000000000000000000000000000000 --- a/v02/summary.log +++ /dev/null @@ -1,55 +0,0 @@ -demo_00 NOT saved -demo_01 NOT saved -demo_02 NOT saved -demo_03 NOT saved -demo_04 NOT saved -demo_05 NOT saved -demo_06 NOT saved -demo_07 NOT saved -demo_08 NOT saved -demo_09 NOT saved -demo_01 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.1G -demo_01 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.2G -demo_15 [RESULT] pressed : True [RESULT] min_distance : 0.0416 m saved 2.1G -demo_02 [RESULT] pressed : True [RESULT] min_distance : 0.0423 m saved 2.0G -demo_16 [RESULT] pressed : True [RESULT] min_distance : 0.0410 m saved 1.8G -demo_03 [RESULT] pressed : True [RESULT] min_distance : 0.0425 m saved 2.3G -demo_17 [RESULT] pressed : True [RESULT] min_distance : 0.0411 m saved 1.9G -demo_04 [RESULT] pressed : True [RESULT] min_distance : 0.0425 m saved 2.3G -demo_18 [RESULT] pressed : True [RESULT] min_distance : 0.0407 m saved 2.6G -demo_05 [RESULT] pressed : True [RESULT] min_distance : 0.0429 m saved 2.2G -demo_19 [RESULT] pressed : True [RESULT] min_distance : 0.0414 m saved 2.2G -demo_06 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.3G -demo_20 [RESULT] pressed : True [RESULT] min_distance : 0.0419 m saved 2.1G -demo_07 [RESULT] pressed : True [RESULT] min_distance : 0.0425 m saved 2.0G -demo_21 [RESULT] pressed : True [RESULT] min_distance : 0.0411 m saved 1.9G -demo_08 [RESULT] pressed : True [RESULT] min_distance : 0.0423 m saved 2.6G -demo_22 [RESULT] pressed : True [RESULT] min_distance : 0.0420 m saved 2.0G -demo_09 [RESULT] pressed : True [RESULT] min_distance : 0.0420 m saved 2.3G -demo_23 [RESULT] pressed : True [RESULT] min_distance : 0.0412 m saved 2.1G -demo_10 [RESULT] pressed : True [RESULT] min_distance : 0.0427 m saved 2.1G -demo_24 [RESULT] pressed : True [RESULT] min_distance : 0.0416 m saved 2.1G -demo_11 [RESULT] pressed : True [RESULT] min_distance : 0.0426 m saved 2.5G -demo_25 [RESULT] pressed : True [RESULT] min_distance : 0.0413 m saved 1.9G -demo_12 [RESULT] pressed : True [RESULT] min_distance : 0.0422 m saved 2.5G -demo_26 [RESULT] pressed : True [RESULT] min_distance : 0.0418 m saved 2.2G -demo_13 [RESULT] pressed : True [RESULT] min_distance : 0.0430 m saved 2.4G -demo_27 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.2G -demo_14 [RESULT] pressed : True [RESULT] min_distance : 0.0422 m saved 1.7G -demo_28 [RESULT] pressed : True [RESULT] min_distance : 0.0412 m saved 2.7G -demo_29 [RESULT] pressed : True [RESULT] min_distance : 0.0420 m saved 2.7G -demo_30 [RESULT] pressed : True [RESULT] min_distance : 0.0422 m saved 2.0G -demo_31 [RESULT] pressed : True [RESULT] min_distance : 0.0428 m saved 2.3G -demo_32 [RESULT] pressed : True [RESULT] min_distance : 0.0429 m saved 2.4G -demo_33 [RESULT] pressed : True [RESULT] min_distance : 0.0419 m saved 2.6G -demo_34 [RESULT] pressed : True [RESULT] min_distance : 0.0422 m saved 2.4G -demo_35 [RESULT] pressed : True [RESULT] min_distance : 0.0424 m saved 2.1G -demo_36 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.4G -demo_37 [RESULT] pressed : True [RESULT] min_distance : 0.0426 m saved 2.5G -demo_38 [RESULT] pressed : True [RESULT] min_distance : 0.0427 m saved 2.4G -demo_39 [RESULT] pressed : True [RESULT] min_distance : 0.0423 m saved 2.2G -demo_40 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 1.9G -demo_41 [RESULT] pressed : True [RESULT] min_distance : 0.0420 m saved 1.8G -demo_42 [RESULT] pressed : True [RESULT] min_distance : 0.0423 m saved 2.1G -demo_43 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.1G -demo_44 [RESULT] pressed : True [RESULT] min_distance : 0.0421 m saved 2.3G