(base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ for group in cycle0-base3 cycle3-base3 cycle1-base2 cycle4-base0 > do > case "$group" in > cycle0-base3) > reference=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-00/cycle-00/references/reference-base-3.npz > ;; > cycle3-base3) > reference=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-03/cycle-03/references/reference-base-3.npz > ;; > cycle1-base2) > reference=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-01/cycle-01/references/reference-base-2.npz > ;; > cycle4-base0) > reference=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-04/cycle-04/references/reference-base-0.npz > ;; > esac > selection=$OUTPUT_ROOT/$group/selection.json > "$PYTHON_BIN" -c 'import json,sys; payload=json.load(open(sys.argv[1])); [print(str(t["episode_index"])+"\t"+t["trace_path"]) for t in payload["traces"]]' "$selection" | > while IFS=$'\t' read -r episode trace > do > output_dir=$(printf '%s/%s/episode_%06d' "$OUTPUT_ROOT" "$group" "$episode") > echo "PIPER_FINAL_V3_START group=$group episode=$(basename "$output_dir")" M" > if "$PYTHON_BIN" scripts/replay_piper_open_loop.py \ > --reference "$reference" \ > --rollout "$trace" \ > --robot-asset-root "$ROBOT_ASSET_ROOT" \ > --scene-json "$SCENE_JSON" \ > --output-dir "$output_dir" \ > --width 960 \ > --height 720 \ > --device cuda:0 \ > --headless > then > echo "PIPER_FINAL_V3_DONE group=$group episode=$(basename "$output_dir")" > else > status=$? > echo "PIPER_FINAL_V3_FAILED group=$group episode=$(basename "$output_dir") status=$status" > fi > done > done PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162725.log 2026-08-27T08:27:25Z [165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:25Z [165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:25Z [193ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:27:25Z [197ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:27:25Z [197ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:27:25Z [197ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:27:25Z [678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:25Z [678ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:26Z [1,117ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,117ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,123ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,123ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,124ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,124ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,125ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,125ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,127ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,129ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,129ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:26Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69904 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:27:26Z [1,642ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:27:26Z [1,650ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:27:26Z [1,650ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:27:27Z [2,462ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:27Z [2,462ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:27Z [2,488ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:27Z [2,488ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:27Z [2,496ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:27Z [2,496ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:27Z [2,504ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:27Z [2,504ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:27Z [2,505ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:27Z [2,505ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:27Z [2,507ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:27Z [2,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:27Z [2,770ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:27:28Z [3,204ms] [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. 2026-08-27T08:27:28Z [3,218ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:27:30Z [5,418ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:27:30Z [5,567ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:27:30Z [5,567ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:27:30Z [5,568ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:27:40Z [15,737ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:27:40Z [15,737ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:27:40Z [15,737ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162745.log 2026-08-27T08:27:45Z [163ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:45Z [163ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:45Z [193ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:27:45Z [197ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:27:45Z [197ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:27:45Z [197ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:27:46Z [753ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:46Z [753ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:46Z [1,152ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,152ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,153ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,153ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,158ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,158ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,159ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,159ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:27:46Z [1,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69890 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:27:46Z [1,638ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:27:46Z [1,648ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:27:46Z [1,649ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:27:47Z [2,474ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:47Z [2,474ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:47Z [2,491ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:47Z [2,491ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:47Z [2,500ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:47Z [2,500ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:47Z [2,508ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:47Z [2,508ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:47Z [2,509ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:47Z [2,509ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:47Z [2,510ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:27:47Z [2,510ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:27:48Z [2,765ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:27:48Z [3,207ms] [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. 2026-08-27T08:27:48Z [3,220ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:27:50Z [5,324ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:27:50Z [5,441ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:27:50Z [5,441ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:27:50Z [5,442ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:28:00Z [14,838ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:28:00Z [14,838ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:28:00Z [14,838ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000002 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162804.log 2026-08-27T08:28:04Z [144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:04Z [144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:04Z [195ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:28:04Z [199ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:28:04Z [199ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:28:04Z [199ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:28:05Z [666ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:05Z [666ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:05Z [1,078ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,078ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,079ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,079ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,081ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,081ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,082ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,082ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,084ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,084ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:05Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69884 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:28:05Z [1,544ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:28:05Z [1,553ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:28:05Z [1,554ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:28:06Z [2,257ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:06Z [2,257ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:06Z [2,274ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:06Z [2,274ms] [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) 2026-08-27T08:28:06Z [2,283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:06Z [2,283ms] [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) 2026-08-27T08:28:06Z [2,290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:06Z [2,290ms] [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) 2026-08-27T08:28:06Z [2,291ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:06Z [2,291ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:06Z [2,292ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:06Z [2,292ms] [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) 2026-08-27T08:28:06Z [2,545ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:28:07Z [2,977ms] [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. 2026-08-27T08:28:07Z [2,994ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:28:09Z [5,058ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:28:09Z [5,179ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:28:09Z [5,179ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:28:09Z [5,180ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:28:18Z [14,441ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:28:18Z [14,441ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:28:18Z [14,442ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000003 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000004 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162823.log 2026-08-27T08:28:23Z [170ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:23Z [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) 2026-08-27T08:28:23Z [216ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:28:23Z [220ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:28:23Z [220ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:28:23Z [220ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:28:23Z [716ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:23Z [716ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:24Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,166ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,166ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,168ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,168ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,169ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,169ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,171ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,171ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,174ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,174ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:24Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69879 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:28:24Z [1,645ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:28:24Z [1,653ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:28:24Z [1,654ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:28:25Z [2,056ms] [Error] [carb.scripting-python.plugin] KeyboardInterrupt: At: PythonExtension.cpp::startup()(0): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:28:25Z [2,056ms] [Error] [omni.ext.plugin] [ext: omni.materialx.libs-1.0.7] Failed to startup python extension. /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] 2026-08-27T08:28:25Z [2,560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:25Z [2,560ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:25Z [2,581ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:25Z [2,581ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:25Z [2,590ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:25Z [2,590ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:25Z [2,598ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:25Z [2,598ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:25Z [2,599ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:25Z [2,599ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:25Z [2,600ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:25Z [2,600ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:26Z [2,852ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:28:26Z [3,258ms] [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. 2026-08-27T08:28:26Z [3,271ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:28:28Z [5,299ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:28:28Z [5,413ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:28:28Z [5,413ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:28:28Z [5,414ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:28:37Z [14,708ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:28:37Z [14,708ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:28:37Z [14,708ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000004 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162842.log 2026-08-27T08:28:42Z [169ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:42Z [169ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:42Z [218ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:28:42Z [222ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:28:42Z [222ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:28:42Z [223ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:28:43Z [727ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:43Z [727ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:43Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,167ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,167ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,168ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,168ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,169ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,169ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,173ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,173ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,174ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,174ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:28:43Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69880 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:28:43Z [1,623ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:28:43Z [1,630ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:28:43Z [1,631ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:28:44Z [2,476ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:44Z [2,476ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:44Z [2,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:44Z [2,495ms] [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) 2026-08-27T08:28:44Z [2,504ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:44Z [2,504ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:44Z [2,512ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:44Z [2,512ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:44Z [2,513ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:44Z [2,513ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:44Z [2,514ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:28:44Z [2,514ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:28:45Z [2,779ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:28:45Z [3,195ms] [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. 2026-08-27T08:28:45Z [3,208ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:28:47Z [5,261ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:28:47Z [5,373ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:28:47Z [5,373ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:28:47Z [5,374ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:28:56Z [14,617ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:28:56Z [14,617ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:28:56Z [14,617ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162901.log 2026-08-27T08:29:01Z [167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:01Z [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) 2026-08-27T08:29:01Z [229ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:29:01Z [234ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:29:01Z [234ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:29:01Z [234ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:29:02Z [780ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:02Z [780ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:02Z [1,263ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,263ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,264ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,264ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,265ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,265ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,267ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,267ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,269ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,269ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,270ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,270ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:02Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69873 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:29:03Z [1,703ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:29:03Z [1,711ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:29:03Z [1,712ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:29:03Z [2,496ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:03Z [2,497ms] [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) 2026-08-27T08:29:03Z [2,513ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:03Z [2,513ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:03Z [2,521ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:03Z [2,521ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:03Z [2,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:03Z [2,528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:03Z [2,529ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:03Z [2,529ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:03Z [2,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:03Z [2,530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:04Z [2,763ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:29:04Z [3,169ms] [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. 2026-08-27T08:29:04Z [3,181ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:29:06Z [4,844ms] [Error] [carb.scripting-python.plugin] KeyboardInterrupt: At: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_ops.py(614): __init__ /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_ops.py(1039): __getattr__ /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_decomp/__init__.py(52): _add_op_to_registry /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_decomp/__init__.py(184): register /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/utils/_pytree.py(981): tree_map_ /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_decomp/__init__.py(187): decomposition_decorator /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_refs/__init__.py(5881): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_decomp/__init__.py(246): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/_meta_registrations.py(9): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load (241): _call_with_frames_removed (1233): _handle_fromlist /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py(2143): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1149): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/maths.py(19): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/__init__.py(15): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/simulation_manager.py(20): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/extension.py(21): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/__init__.py(15): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load (241): _call_with_frames_removed (1126): _find_and_load_unlocked (1176): _find_and_load /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/__init__.py(15): (241): _call_with_frames_removed (940): exec_module (705): _load_unlocked (1150): _find_and_load_unlocked (1176): _find_and_load (1204): _gcd_import /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/importlib/__init__.py(126): import_module /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py(86): import_module /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(103): _import_public /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(199): _custom_importer /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(220): startup /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(337): startup_extension PythonExtension.cpp::startup()(2): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:29:06Z [4,844ms] [Error] [omni.ext.plugin] [ext: isaacsim.core.simulation_manager-1.4.4] Failed to startup python extension. 2026-08-27T08:29:06Z [5,006ms] [Error] [omni.ext._impl._internal] Failed to import python module isaacsim.core.prims from /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.prims. Error: name '_C' is not defined. Traceback: Traceback (most recent call last): File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 196, in _custom_importer return _import_public(ext_module.path, ext_module.name, reload_enabled) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 103, in _import_public module = import_module(module_name) ^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 85, in import_module return importlib.import_module(name) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/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 "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/__init__.py", line 16, in from .impl import * File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/__init__.py", line 16, in from .articulation import Articulation File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/articulation.py", line 27, in import torch File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py", line 764, in for __name in dir(_C): ^^ NameError: name '_C' is not defined 2026-08-27T08:29:06Z [5,006ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaacsim.core.prims' in '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.prims' failed to load. At: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(222): startup /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(337): startup_extension PythonExtension.cpp::startup()(2): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:29:06Z [5,006ms] [Error] [omni.ext.plugin] [ext: isaacsim.core.prims-0.6.1] Failed to startup python extension. 2026-08-27T08:29:06Z [5,184ms] [Error] [omni.ext._impl._internal] Failed to import python module isaacsim.core.cloner from /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.cloner. Error: name '_C' is not defined. Traceback: Traceback (most recent call last): File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 196, in _custom_importer return _import_public(ext_module.path, ext_module.name, reload_enabled) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 103, in _import_public module = import_module(module_name) ^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 85, in import_module return importlib.import_module(name) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/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 "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.cloner/isaacsim/core/cloner/__init__.py", line 16, in from .impl.cloner import * File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.cloner/isaacsim/core/cloner/impl/cloner.py", line 21, in import torch File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py", line 764, in for __name in dir(_C): ^^ NameError: name '_C' is not defined 2026-08-27T08:29:06Z [5,185ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaacsim.core.cloner' in '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.cloner' failed to load. At: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(222): startup /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(337): startup_extension PythonExtension.cpp::startup()(2): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:29:06Z [5,185ms] [Error] [omni.ext.plugin] [ext: isaacsim.core.cloner-1.4.10] Failed to startup python extension. 2026-08-27T08:29:06Z [5,237ms] [Error] [omni.ext._impl._internal] Failed to import python module isaacsim.core.api from /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.api. Error: name '_C' is not defined. Traceback: Traceback (most recent call last): File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 196, in _custom_importer return _import_public(ext_module.path, ext_module.name, reload_enabled) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 103, in _import_public module = import_module(module_name) ^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 85, in import_module return importlib.import_module(name) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/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 "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/__init__.py", line 17, in from isaacsim.core.api.physics_context.physics_context import PhysicsContext File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/physics_context/__init__.py", line 15, in from isaacsim.core.api.physics_context.physics_context import PhysicsContext File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/physics_context/physics_context.py", line 20, in from isaacsim.core.simulation_manager import SimulationManager File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/__init__.py", line 15, in from .impl.extension import Extension File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/__init__.py", line 15, in from .extension import * File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/extension.py", line 21, in from .simulation_manager import SimulationManager File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.simulation_manager/isaacsim/core/simulation_manager/impl/simulation_manager.py", line 20, in import isaacsim.core.utils.torch as torch_utils File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/__init__.py", line 15, in from .maths import * File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.utils/isaacsim/core/utils/torch/maths.py", line 19, in import torch File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py", line 764, in for __name in dir(_C): ^^ NameError: name '_C' is not defined 2026-08-27T08:29:06Z [5,237ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaacsim.core.api' in '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.core.api' failed to load. At: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(222): startup /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(337): startup_extension PythonExtension.cpp::startup()(2): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:29:06Z [5,239ms] [Error] [omni.ext.plugin] [ext: isaacsim.core.api-4.8.0] Failed to startup python extension. 2026-08-27T08:29:06Z [5,336ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:29:06Z [5,467ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:29:06Z [5,467ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:29:06Z [5,467ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:29:06Z [5,507ms] [Error] [omni.ext._impl._internal] Failed to import python module isaaclab_assets from /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_assets. Error: name '_C' is not defined. Traceback: Traceback (most recent call last): File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 196, in _custom_importer return _import_public(ext_module.path, ext_module.name, reload_enabled) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 103, in _import_public module = import_module(module_name) ^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 85, in import_module return importlib.import_module(name) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/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 "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_assets/isaaclab_assets/__init__.py", line 23, in from .robots import * File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_assets/isaaclab_assets/robots/__init__.py", line 10, in from .agibot import * File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_assets/isaaclab_assets/robots/agibot.py", line 15, in import isaaclab.sim as sim_utils File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/sim/__init__.py", line 29, in from .converters import * # noqa: F401, F403 ^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/sim/converters/__init__.py", line 19, in from .asset_converter_base import AssetConverterBase File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/sim/converters/asset_converter_base.py", line 14, in from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py", line 8, in from isaaclab.utils import configclass File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/utils/__init__.py", line 8, in from .array import * File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/utils/array.py", line 14, in import torch File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py", line 764, in for __name in dir(_C): ^^ NameError: name '_C' is not defined 2026-08-27T08:29:06Z [5,507ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaaclab_assets' in '/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_assets' failed to load. At: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(222): startup /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(337): startup_extension PythonExtension.cpp::startup()(2): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:29:06Z [5,507ms] [Error] [omni.ext.plugin] [ext: isaaclab_assets-0.2.4] Failed to startup python extension. 2026-08-27T08:29:07Z [6,125ms] [Error] [omni.ext._impl._internal] Failed to import python module isaaclab_tasks from /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks. Error: name '_C' is not defined. Traceback: Traceback (most recent call last): File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 196, in _custom_importer return _import_public(ext_module.path, ext_module.name, reload_enabled) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py", line 103, in _import_public module = import_module(module_name) ^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 85, in import_module return importlib.import_module(name) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/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 "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/__init__.py", line 33, in from .utils import import_packages File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/__init__.py", line 9, in from .parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 17, in from isaaclab.envs import DirectRLEnvCfg, ManagerBasedRLEnvCfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/__init__.py", line 45, in from . import mdp, ui File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/mdp/__init__.py", line 18, in from .actions import * # noqa: F401, F403 ^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/mdp/actions/__init__.py", line 8, in from .actions_cfg import * File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py", line 8, in from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceControllerCfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/controllers/__init__.py", line 14, in from .differential_ik import DifferentialIKController File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/controllers/differential_ik.py", line 10, in import torch File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py", line 764, in for __name in dir(_C): ^^ NameError: name '_C' is not defined 2026-08-27T08:29:07Z [6,125ms] [Error] [carb.scripting-python.plugin] Exception: Extension python module: 'isaaclab_tasks' in '/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks' failed to load. At: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(222): startup /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/kernel/py/omni/ext/_impl/_internal.py(337): startup_extension PythonExtension.cpp::startup()(2): /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(534): _start_app /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(270): __init__ /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(823): _create_app /home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/app/app_launcher.py(131): __init__ /data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py(31): 2026-08-27T08:29:07Z [6,126ms] [Error] [omni.ext.plugin] [ext: isaaclab_tasks-0.11.14] Failed to startup python extension. 2026-08-27T08:29:15Z [14,592ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:29:15Z [14,592ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:29:15Z [14,593ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit 2026-08-27T08:29:18Z [16,678ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 35, in import dexplore_lab_v2.tasks # noqa: F401, E402 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/source/dexplore_lab_v2/dexplore_lab_v2/tasks/__init__.py", line 12, in from isaaclab_tasks.utils import import_packages File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/__init__.py", line 33, in from .utils import import_packages File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/__init__.py", line 9, in from .parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 17, in from isaaclab.envs import DirectRLEnvCfg, ManagerBasedRLEnvCfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/__init__.py", line 45, in from . import mdp, ui File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/mdp/__init__.py", line 18, in from .actions import * # noqa: F401, F403 ^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/mdp/actions/__init__.py", line 8, in from .actions_cfg import * File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py", line 8, in from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceControllerCfg File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/controllers/__init__.py", line 14, in from .differential_ik import DifferentialIKController File "/home/zhouyingchengliao/project/ljt/IsaacLab/source/isaaclab/isaaclab/controllers/differential_ik.py", line 10, in import torch File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/__init__.py", line 764, in for __name in dir(_C): ^^ NameError: name '_C' is not defined 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2026-08-27T08:29:18Z [17,098ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal 2026-08-27T08:29:18Z [17,101ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! 2026-08-27T08:29:18Z [17,110ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown 2026-08-27T08:29:18Z [17,177ms] [Warning] [carb] Recursive unloadAllPlugins() detected! PIPER_FINAL_V3_DONE group=cycle3-base3 episode=episode_000002 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162919.log 2026-08-27T08:29:19Z [164ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:19Z [164ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:19Z [215ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:29:19Z [219ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:29:19Z [219ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:29:19Z [219ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:29:20Z [825ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:20Z [825ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:20Z [1,331ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:20Z [1,331ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:20Z [1,332ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:20Z [1,332ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:20Z [1,334ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:20Z [1,334ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:20Z [1,335ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:20Z [1,335ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:20Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:20Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,339ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,339ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:21Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69939 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:29:21Z [1,785ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:29:21Z [1,793ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:29:21Z [1,794ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:29:22Z [2,493ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:22Z [2,493ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:22Z [2,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:22Z [2,511ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:22Z [2,519ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:22Z [2,519ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:22Z [2,526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:22Z [2,526ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:22Z [2,527ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:22Z [2,527ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:22Z [2,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:22Z [2,528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:22Z [2,737ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:29:22Z [3,132ms] [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. 2026-08-27T08:29:22Z [3,145ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:29:24Z [5,090ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:29:24Z [5,205ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:29:24Z [5,205ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:29:24Z [5,206ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:29:34Z [14,501ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:29:34Z [14,501ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:29:34Z [14,501ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000003 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000004 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162938.log 2026-08-27T08:29:38Z [163ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:38Z [163ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:38Z [213ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:29:38Z [217ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:29:38Z [217ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:29:38Z [217ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:29:39Z [710ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:39Z [710ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:39Z [1,166ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,166ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,168ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,168ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,169ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,169ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,172ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,172ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,174ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,174ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:39Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69880 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:29:40Z [1,673ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:29:40Z [1,681ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:29:40Z [1,682ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:29:41Z [2,504ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:41Z [2,504ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:41Z [2,523ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:41Z [2,523ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:41Z [2,531ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:41Z [2,531ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:41Z [2,539ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:41Z [2,539ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:41Z [2,540ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:41Z [2,540ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:41Z [2,541ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:41Z [2,541ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:41Z [2,804ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:29:41Z [3,233ms] [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. 2026-08-27T08:29:41Z [3,246ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:29:43Z [5,346ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:29:44Z [5,499ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:29:44Z [5,499ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:29:44Z [5,500ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:29:54Z [15,506ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:29:54Z [15,506ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:29:54Z [15,506ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 625, in main label_to_id = video.build_delivery_semantic_label_map(scene) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 446, in build_delivery_semantic_label_map raise VideoDiagnosticError("task_relation must explicitly provide target") inspire_rendering.VideoDiagnosticError: task_relation must explicitly provide target PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000004 status=1 PIPER_FINAL_V3_START group=cycle1-base2 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_162958.log 2026-08-27T08:29:58Z [168ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:58Z [168ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:58Z [216ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:29:58Z [220ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:29:58Z [220ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:29:58Z [220ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:29:59Z [762ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:29:59Z [762ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:29:59Z [1,193ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,193ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,194ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,194ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,196ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,196ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,197ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,197ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,202ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,202ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,204ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,204ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:29:59Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0(base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ for group in cycle0-base3 cycle3-base3 cycle1-base2 cycle4-base0 > do > case "$group" in > cycle0-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-00/cycle-00 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle3-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-03/cycle-03 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle1-base2) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-01/cycle-01 > reference=$cycle_root/references/reference-base-2.npz > ;; > cycle4-base0) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-04/cycle-04 > reference=$cycle_root/references/reference-base-0.npz > ;; > esac > scene_json=$cycle_root/scene/scene.json > selection=$OUTPUT_ROOT/$group/selection.json > "$PYTHON_BIN" -c 'import json,sys; payload=json.load(open(sys.argv[1])); [print(str(t["episode_index"])+"\t"+t["trace_path"]) for t in payload["traces"]]' "$selection" | > while IFS=$'\t' read -r episode trace > do > output_dir=$(printf '%s/%s/episode_%06d' "$OUTPUT_ROOT" "$group" "$episode") > echo "PIPER_FINAL_V3_START group=$group episode=$(basename "$output_dir")" M" > if "$PYTHON_BIN" scripts/replay_piper_open_loop.py \ > --reference "$reference" \ > --rollout "$trace" \ > --robot-asset-root "$ROBOT_ASSET_ROOT" \ > --scene-json "$scene_json" \ > --output-dir "$output_dir" \ > --width 960 \ > --height 720 \ > --device cuda:0 \ > --headless > then > echo "PIPER_FINAL_V3_DONE group=$group episode=$(basename "$output_dir")" > else > status=$? > echo "PIPER_FINAL_V3_FAILED group=$group episode=$(basename "$output_dir") status=$status" > fi > done > done PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163037.log 2026-08-27T08:30:37Z [172ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:37Z [172ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:37Z [226ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:30:37Z [230ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:30:37Z [230ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:30:37Z [230ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:30:37Z [753ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:37Z [753ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:38Z [1,369ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,369ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,370ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,371ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,372ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,372ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,373ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,373ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,385ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,385ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,398ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,398ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:38Z [1,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69902 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:30:38Z [1,883ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:30:38Z [1,890ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:30:38Z [1,891ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:30:39Z [2,829ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:39Z [2,829ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:39Z [2,852ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:39Z [2,852ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:39Z [2,865ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:39Z [2,865ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:39Z [2,875ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:39Z [2,875ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:39Z [2,877ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:39Z [2,877ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:39Z [2,878ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:39Z [2,878ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:40Z [3,207ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:30:40Z [3,651ms] [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. 2026-08-27T08:30:40Z [3,664ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:30:42Z [5,781ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:30:42Z [5,898ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:30:42Z [5,898ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:30:42Z [5,899ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:30:52Z [15,740ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:30:52Z [15,740ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:30:52Z [15,740ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163057.log 2026-08-27T08:30:57Z [169ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:57Z [169ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:57Z [219ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:30:57Z [223ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:30:57Z [223ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:30:57Z [223ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:30:57Z [733ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:57Z [733ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:58Z [1,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,147ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,148ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,150ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,150ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,151ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,151ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,153ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,153ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:30:58Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69871 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:30:58Z [1,614ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:30:58Z [1,621ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:30:58Z [1,622ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:30:59Z [2,501ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:59Z [2,502ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:59Z [2,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:59Z [2,520ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:59Z [2,532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:59Z [2,532ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:59Z [2,542ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:59Z [2,542ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:59Z [2,543ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:59Z [2,543ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:59Z [2,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:30:59Z [2,544ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:30:59Z [2,809ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:31:00Z [3,271ms] [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. 2026-08-27T08:31:00Z [3,287ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:31:02Z [5,417ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:31:02Z [5,555ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:31:02Z [5,555ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:31:02Z [5,556ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:31:12Z [15,425ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:31:12Z [15,425ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:31:12Z [15,425ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000002 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163117.log 2026-08-27T08:31:17Z [169ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:17Z [169ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:17Z [221ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:31:17Z [227ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:31:17Z [227ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:31:17Z [227ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:31:17Z [774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:17Z [774ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:18Z [1,249ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,251ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,251ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,252ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,252ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,253ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,253ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,256ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,256ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,257ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,257ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:18Z [1,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69869 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:31:18Z [1,721ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:31:18Z [1,729ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:31:18Z [1,730ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:31:19Z [2,534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:19Z [2,534ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:19Z [2,554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:19Z [2,554ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:19Z [2,563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:19Z [2,563ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:19Z [2,570ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:19Z [2,570ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:19Z [2,572ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:19Z [2,572ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:19Z [2,573ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:19Z [2,573ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:19Z [2,839ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:31:20Z [3,278ms] [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. 2026-08-27T08:31:20Z [3,291ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:31:22Z [5,422ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:31:22Z [5,553ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:31:22Z [5,553ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:31:22Z [5,554ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:31:32Z [15,455ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:31:32Z [15,455ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:31:32Z [15,455ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000003 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000004 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163136.log 2026-08-27T08:31:36Z [167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:36Z [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) 2026-08-27T08:31:36Z [218ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:31:36Z [224ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:31:36Z [224ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:31:36Z [224ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:31:37Z [700ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:37Z [700ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:37Z [1,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,136ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,136ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,137ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,137ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,140ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,140ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,141ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,141ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:37Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69866 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:31:38Z [1,597ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:31:38Z [1,606ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:31:38Z [1,607ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:31:39Z [2,366ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:39Z [2,366ms] [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) 2026-08-27T08:31:39Z [2,385ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:39Z [2,385ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:39Z [2,393ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:39Z [2,393ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:39Z [2,400ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:39Z [2,400ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:39Z [2,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:39Z [2,401ms] [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) 2026-08-27T08:31:39Z [2,402ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:39Z [2,402ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:39Z [2,629ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:31:39Z [3,002ms] [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. 2026-08-27T08:31:39Z [3,016ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:31:41Z [5,120ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:31:41Z [5,242ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:31:41Z [5,242ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:31:41Z [5,243ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:31:51Z [14,504ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:31:51Z [14,504ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:31:51Z [14,504ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000004 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163155.log 2026-08-27T08:31:55Z [167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:55Z [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) 2026-08-27T08:31:55Z [200ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:31:55Z [204ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:31:55Z [204ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:31:55Z [204ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:31:56Z [678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:56Z [678ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:56Z [1,139ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,139ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,140ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,140ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,142ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,142ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,143ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,143ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,145ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,145ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:31:56Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69858 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:31:57Z [1,604ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:31:57Z [1,612ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:31:57Z [1,613ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:31:57Z [2,525ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:57Z [2,525ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:57Z [2,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:57Z [2,544ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:57Z [2,553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:57Z [2,553ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:57Z [2,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:57Z [2,561ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:57Z [2,562ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:57Z [2,562ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:57Z [2,563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:31:57Z [2,564ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:31:58Z [2,839ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:31:58Z [3,284ms] [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. 2026-08-27T08:31:58Z [3,302ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:32:00Z [5,441ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:32:00Z [5,555ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:32:00Z [5,555ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:32:00Z [5,556ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:32:11Z [15,625ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:32:11Z [15,625ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:32:11Z [15,625ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163215.log 2026-08-27T08:32:15Z [165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:15Z [165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:15Z [215ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:32:15Z [219ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:32:15Z [219ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:32:15Z [219ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:32:16Z [822ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:16Z [823ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:16Z [1,236ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,236ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,237ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,237ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,238ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,238ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,243ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,243ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,244ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,244ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:16Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69864 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:32:17Z [1,705ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:32:17Z [1,715ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:32:17Z [1,715ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:32:17Z [2,513ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:17Z [2,513ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:18Z [2,571ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:18Z [2,571ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:18Z [2,599ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:18Z [2,599ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:18Z [2,608ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:18Z [2,608ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:18Z [2,610ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:18Z [2,610ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:18Z [2,611ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:18Z [2,611ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:18Z [2,888ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:32:18Z [3,303ms] [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. 2026-08-27T08:32:18Z [3,316ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:32:20Z [5,431ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:32:21Z [5,546ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:32:21Z [5,546ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:32:21Z [5,547ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:32:30Z [14,900ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:32:30Z [14,900ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:32:30Z [14,900ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000002 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163234.log 2026-08-27T08:32:35Z [187ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:35Z [187ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:35Z [251ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:32:35Z [257ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:32:35Z [257ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:32:35Z [257ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:32:35Z [729ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:35Z [729ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:36Z [1,125ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,125ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,126ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,126ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,127ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,132ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,132ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:36Z [1,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69792 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:32:36Z [1,619ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:32:36Z [1,627ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:32:36Z [1,628ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:32:37Z [2,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:37Z [2,495ms] [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) 2026-08-27T08:32:37Z [2,513ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:37Z [2,513ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:37Z [2,521ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:37Z [2,521ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:37Z [2,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:37Z [2,528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:37Z [2,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:37Z [2,530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:37Z [2,531ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:37Z [2,531ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:37Z [2,805ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:32:38Z [3,238ms] [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. 2026-08-27T08:32:38Z [3,251ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:32:40Z [5,393ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:32:40Z [5,509ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:32:40Z [5,509ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:32:40Z [5,510ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:32:50Z [15,459ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:32:50Z [15,459ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:32:50Z [15,459ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 627, in main raise ValueError("Piper rendering requires the official DAE visual assets") ValueError: Piper rendering requires the official DAE visual assets PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000003 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000004 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163254.log 2026-08-27T08:32:55Z [169ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:55Z [169ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:55Z [222ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:32:55Z [227ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:32:55Z [227ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:32:55Z [227ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:32:55Z [799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:55Z [799ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:56Z [1,216ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,216ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,217ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,217ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,218ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,218ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,222ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,222ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,223ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,223ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,224ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,224ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:32:56Z [1,225ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69654 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:32:56Z [1,688ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:32:56Z [1,695ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:32:56Z [1,696ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:32:57Z [2,519ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:57Z [2,519ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:57Z [2,538ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:57Z [2,538ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:57Z [2,549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:57Z [2,549ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:57Z [2,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:57Z [2,557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:57Z [2,558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:57Z [2,558ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:57Z [2,559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:32:57Z [2,559ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:32:57Z [2,838ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:32:58Z [3,269ms] [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. 2026-08-27T08:32:58Z [3,283ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:33:00Z [5,531ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:33:00Z [5,709ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:33:00Z [5,709ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:33:00Z [5,710ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:33:10Z [15,970ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:33:10Z [15,970ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:33:10Z [15,970ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. (base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ for group in cycle0-base3 cycle3-base3 cycle1-base2 cycle4-base0 > do > case "$group" in > cycle0-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-00/cycle-00 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle3-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-03/cycle-03 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle1-base2) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-01/cycle-01 > reference=$cycle_root/references/reference-base-2.npz > ;; > cycle4-base0) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-04/cycle-04 > reference=$cycle_root/references/reference-base-0.npz > ;; > esac > scene_json=$cycle_root/scene/scene.json > selection=$OUTPUT_ROOT/$group/selection.json > "$PYTHON_BIN" -c 'import json,sys; payload=json.load(open(sys.argv[1])); [print(str(t["episode_index"])+"\t"+t["trace_path"]) for t in payload["traces"]]' "$selection" | > while IFS=$'\t' read -r episode trace > do > output_dir=$(printf '%s/%s/episode_%06d' "$OUTPUT_ROOT" "$group" "$episode") > echo "PIPER_FINAL_V3_START group=$group episode=$(basename "$output_dir")" M" > if "$PYTHON_BIN" scripts/replay_piper_open_loop.py \ > --reference "$reference" \ > --rollout "$trace" \ > --robot-asset-root "$ROBOT_ASSET_ROOT" \ > --scene-json "$scene_json" \ > --output-dir "$output_dir" \ > --width 960 \ > --height 720 \ > --device cuda:0 \ > --headless > then > echo "PIPER_FINAL_V3_DONE group=$group episode=$(basename "$output_dir")" > else > status=$? > echo "PIPER_FINAL_V3_FAILED group=$group episode=$(basename "$output_dir") status=$status" > fi > done > done PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163345.log 2026-08-27T08:33:45Z [168ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:45Z [168ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:45Z [218ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:33:45Z [222ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:33:45Z [222ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:33:45Z [222ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:33:45Z [744ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:45Z [744ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:46Z [1,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,195ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,196ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,196ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,197ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,197ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,200ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,200ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,203ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,203ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,204ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,204ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,206ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:33:46Z [1,206ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:33:46Z [1,206ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69640 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:33:46Z [1,670ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:33:46Z [1,678ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:33:46Z [1,678ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:33:47Z [2,546ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:47Z [2,546ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:47Z [2,564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:47Z [2,564ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:47Z [2,573ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:47Z [2,573ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:47Z [2,580ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:47Z [2,580ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:47Z [2,582ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:47Z [2,582ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:47Z [2,583ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:33:47Z [2,583ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:33:48Z [2,833ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:33:48Z [3,265ms] [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. 2026-08-27T08:33:48Z [3,278ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:33:50Z [5,410ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:33:50Z [5,524ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:33:50Z [5,524ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:33:50Z [5,525ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:33:59Z [14,781ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:33:59Z [14,781ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:33:59Z [14,781ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-34-03.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 3.035303 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 1.015735 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000001 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=600, pixel=[317.08502278130067, 648.3133877449245], safe_min=[96.0, 72.0], safe_max=[864.0, 648.0] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163440.log 2026-08-27T08:34:40Z [163ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:40Z [163ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:40Z [216ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:34:40Z [220ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:34:40Z [220ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:34:40Z [220ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:34:41Z [737ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:41Z [737ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:41Z [1,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,147ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,150ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,150ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,152ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,152ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,153ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,153ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:34:41Z [1,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69760 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:34:42Z [1,578ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:34:42Z [1,586ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:34:42Z [1,587ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:34:43Z [2,355ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:43Z [2,355ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:43Z [2,375ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:43Z [2,375ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:43Z [2,385ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:43Z [2,385ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:43Z [2,393ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:43Z [2,393ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:43Z [2,394ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:43Z [2,394ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:43Z [2,395ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:34:43Z [2,395ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:34:43Z [2,645ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:34:43Z [3,076ms] [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. 2026-08-27T08:34:43Z [3,090ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:34:45Z [5,237ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:34:46Z [5,362ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:34:46Z [5,362ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:34:46Z [5,363ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:34:55Z [14,681ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:34:55Z [14,681ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:34:55Z [14,681ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-34-58.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 3.002754 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.990512 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000002 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=600, pixel=[317.11794113807196, 648.1589563512889], safe_min=[96.0, 72.0], safe_max=[864.0, 648.0] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000002 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163528.log 2026-08-27T08:35:28Z [161ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:28Z [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) 2026-08-27T08:35:28Z [210ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:35:28Z [214ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:35:28Z [214ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:35:28Z [214ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:35:29Z [703ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:29Z [703ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:29Z [1,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,157ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,157ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,158ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,158ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,159ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,159ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,163ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,163ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,164ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,164ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,165ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,166ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,166ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,166ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,166ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:35:29Z [1,166ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:35:29Z [1,166ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69861 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:35:30Z [1,625ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:35:30Z [1,633ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:35:30Z [1,634ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:35:31Z [2,526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:31Z [2,526ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:31Z [2,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:31Z [2,544ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:31Z [2,554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:31Z [2,554ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:31Z [2,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:31Z [2,561ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:31Z [2,563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:31Z [2,563ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:31Z [2,564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:35:31Z [2,564ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:35:31Z [2,838ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:35:31Z [3,267ms] [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. 2026-08-27T08:35:31Z [3,279ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:35:34Z [5,541ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:35:34Z [5,662ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:35:34Z [5,662ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:35:34Z [5,663ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. (base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ for group in cycle0-base3 cycle3-base3 cycle1-base2 cycle4-base0 > do > case "$group" in > cycle0-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-00/cycle-00 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle3-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-03/cycle-03 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle1-base2) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-01/cycle-01 > reference=$cycle_root/references/reference-base-2.npz > ;; > cycle4-base0) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-04/cycle-04 > reference=$cycle_root/references/reference-base-0.npz > ;; > esac > scene_json=$cycle_root/scene/scene.json > selection=$OUTPUT_ROOT/$group/selection.json > "$PYTHON_BIN" -c 'import json,sys; payload=json.load(open(sys.argv[1])); [print(str(t["episode_index"])+"\t"+t["trace_path"]) for t in payload["traces"]]' "$selection" | > while IFS=$'\t' read -r episode trace > do > output_dir=$(printf '%s/%s/episode_%06d' "$OUTPUT_ROOT" "$group" "$episode") > echo "PIPER_FINAL_V3_START group=$group episode=$(basename "$output_dir")" M" > if "$PYTHON_BIN" scripts/replay_piper_open_loop.py \ > --reference "$reference" \ > --rollout "$trace" \ > --robot-asset-root "$ROBOT_ASSET_ROOT" \ > --scene-json "$scene_json" \ > --output-dir "$output_dir" \ > --width 960 \ > --height 720 \ > --device cuda:0 \ > --headless > then > echo "PIPER_FINAL_V3_DONE group=$group episode=$(basename "$output_dir")" > else > status=$? > echo "PIPER_FINAL_V3_FAILED group=$group episode=$(basename "$output_dir") status=$status" > fi > done > done PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163728.log 2026-08-27T08:37:28Z [165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:28Z [165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:28Z [221ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:37:28Z [226ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:37:28Z [226ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:37:28Z [226ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:37:29Z [748ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:29Z [748ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:29Z [1,237ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,237ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,238ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,238ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,243ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,243ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,244ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,244ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:37:29Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69822 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:37:30Z [1,814ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:37:30Z [1,822ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:37:30Z [1,822ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:37:31Z [2,618ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:31Z [2,618ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:31Z [2,639ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:31Z [2,639ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:31Z [2,649ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:31Z [2,649ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:31Z [2,656ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:31Z [2,656ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:31Z [2,658ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:31Z [2,658ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:31Z [2,659ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:37:31Z [2,659ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:37:31Z [2,939ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:37:31Z [3,372ms] [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. 2026-08-27T08:37:31Z [3,386ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:37:34Z [5,545ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:37:34Z [5,660ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:37:34Z [5,660ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:37:34Z [5,661ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:37:43Z [14,954ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:37:43Z [14,954ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:37:43Z [14,954ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-37-46.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 2.891472 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 1.092951 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000001 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=608, pixel=[316.71425105285823, 649.3689277377695], safe_min=[95.04, 71.28], safe_max=[864.96, 648.72] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_163821.log 2026-08-27T08:38:21Z [146ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:21Z [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) 2026-08-27T08:38:21Z [196ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:38:21Z [200ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:38:21Z [200ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:38:21Z [200ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:38:22Z [688ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:22Z [688ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:38:22Z [1,118ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,118ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,119ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,119ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,121ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,121ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,122ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,122ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,124ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,124ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,126ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,126ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:38:22Z [1,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69978 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:38:23Z [1,605ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:38:23Z [1,613ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:38:23Z [1,613ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:38:24Z [2,459ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:24Z [2,459ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:38:24Z [2,481ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:24Z [2,481ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:38:24Z [2,489ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:24Z [2,489ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:38:24Z [2,496ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:24Z [2,497ms] [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) 2026-08-27T08:38:24Z [2,498ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:24Z [2,498ms] [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) 2026-08-27T08:38:24Z [2,499ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:38:24Z [2,499ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:38:24Z [2,757ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:38:24Z [3,200ms] [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. 2026-08-27T08:38:24Z [3,214ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:38:26Z [5,320ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:38:27Z [5,433ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:38:27Z [5,433ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:38:27Z [5,434ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:38:36Z [15,097ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:38:36Z [15,097ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:38:36Z [15,097ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. (base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ for group in cycle0-base3 cycle3-base3 cycle1-base2 cycle4-base0 > do > case "$group" in > cycle0-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-00/cycle-00 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle3-base3) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-03/cycle-03 > reference=$cycle_root/references/reference-base-3.npz > ;; > cycle1-base2) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-01/cycle-01 > reference=$cycle_root/references/reference-base-2.npz > ;; > cycle4-base0) > cycle_root=$PIPER_ROOT/results/formal-blackbox-into-paperbox-cycle-04/cycle-04 > reference=$cycle_root/references/reference-base-0.npz > ;; > esac > scene_json=$cycle_root/scene/scene.json > selection=$OUTPUT_ROOT/$group/selection.json > "$PYTHON_BIN" -c 'import json,sys; payload=json.load(open(sys.argv[1])); [print(str(t["episode_index"])+"\t"+t["trace_path"]) for t in payload["traces"]]' "$selection" | > while IFS=$'\t' read -r episode trace > do > output_dir=$(printf '%s/%s/episode_%06d' "$OUTPUT_ROOT" "$group" "$episode") > echo "PIPER_FINAL_V3_START group=$group episode=$(basename "$output_dir")" M" > if "$PYTHON_BIN" scripts/replay_piper_open_loop.py \ > --reference "$reference" \ > --rollout "$trace" \ > --robot-asset-root "$ROBOT_ASSET_ROOT" \ > --scene-json "$scene_json" \ > --output-dir "$output_dir" \ > --width 960 \ > --height 720 \ > --device cuda:0 \ > --headless > then > echo "PIPER_FINAL_V3_DONE group=$group episode=$(basename "$output_dir")" > else > status=$? > echo "PIPER_FINAL_V3_FAILED group=$group episode=$(basename "$output_dir") status=$status" > fi > done > done PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164113.log 2026-08-27T08:41:13Z [162ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:13Z [162ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:13Z [194ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:41:13Z [198ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:41:13Z [198ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:41:13Z [198ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:41:14Z [836ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:14Z [836ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:15Z [1,340ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,340ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,344ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,344ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,346ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,346ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,348ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,348ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:15Z [1,350ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69409 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:41:15Z [1,815ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:41:15Z [1,823ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:41:15Z [1,824ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:41:16Z [2,630ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:16Z [2,630ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:16Z [2,650ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:16Z [2,650ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:16Z [2,660ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:16Z [2,660ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:16Z [2,676ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:16Z [2,676ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:16Z [2,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:16Z [2,678ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:16Z [2,679ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:16Z [2,679ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:16Z [2,972ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:41:17Z [3,411ms] [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. 2026-08-27T08:41:17Z [3,423ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:41:19Z [5,506ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:41:19Z [5,649ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:41:19Z [5,649ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:41:19Z [5,649ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:41:28Z [15,208ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:41:28Z [15,208ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:41:28Z [15,208ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-41-32.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 2.844524 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.871668 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000001 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=896, pixel=[266.3886893828418, 720.7993255873869], safe_min=[0.0, 0.0], safe_max=[960.0, 720.0] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000001 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000002 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164156.log 2026-08-27T08:41:56Z [166ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:56Z [166ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:56Z [214ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:41:56Z [218ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:41:56Z [218ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:41:56Z [218ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:41:57Z [703ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:57Z [703ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:57Z [1,271ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,271ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,272ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,272ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,276ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,276ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,277ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,277ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,280ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,280ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,281ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,281ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,282ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,282ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,282ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,282ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,282ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,282ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:41:57Z [1,283ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69264 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:41:58Z [1,725ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:41:58Z [1,733ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:41:58Z [1,734ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:41:58Z [2,447ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:58Z [2,447ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:58Z [2,463ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:58Z [2,463ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:58Z [2,472ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:58Z [2,472ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:58Z [2,479ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:58Z [2,479ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:58Z [2,480ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:58Z [2,480ms] [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) 2026-08-27T08:41:58Z [2,481ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:41:58Z [2,481ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:41:59Z [2,728ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:41:59Z [3,133ms] [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. 2026-08-27T08:41:59Z [3,146ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:42:01Z [5,123ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:42:01Z [5,245ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:42:01Z [5,245ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:42:01Z [5,245ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:42:11Z [14,668ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:42:11Z [14,668ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:42:11Z [14,668ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-42-14.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 2.798008 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.874228 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000002 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=904, pixel=[261.32161199924934, 721.1304452932156], safe_min=[0.0, 0.0], safe_max=[960.0, 720.0] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000002 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164245.log 2026-08-27T08:42:45Z [144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:45Z [144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:45Z [195ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:42:45Z [199ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:42:45Z [199ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:42:45Z [199ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:42:46Z [795ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:46Z [795ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:46Z [1,172ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,172ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,173ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,173ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,174ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,174ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,178ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,178ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:42:46Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69486 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:42:47Z [1,675ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:42:47Z [1,684ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:42:47Z [1,684ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:42:48Z [2,408ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:48Z [2,408ms] [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) 2026-08-27T08:42:48Z [2,429ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:48Z [2,429ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:48Z [2,437ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:48Z [2,437ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:48Z [2,443ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:48Z [2,443ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:48Z [2,444ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:48Z [2,444ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:48Z [2,445ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:42:48Z [2,445ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:42:48Z [2,679ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:42:48Z [3,051ms] [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. 2026-08-27T08:42:48Z [3,063ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:42:50Z [5,010ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:42:50Z [5,124ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:42:50Z [5,124ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:42:50Z [5,124ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:43:00Z [14,575ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:43:00Z [14,575ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:43:00Z [14,575ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-43-03.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 3.059871 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.952980 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000003 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=872, pixel=[276.8363807935213, 721.325450384733], safe_min=[0.0, 0.0], safe_max=[960.0, 720.0] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000003 status=1 PIPER_FINAL_V3_START group=cycle0-base3 episode=episode_000004 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164333.log 2026-08-27T08:43:34Z [165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:34Z [165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:43:34Z [215ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:43:34Z [219ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:43:34Z [220ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:43:34Z [220ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:43:34Z [690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:34Z [690ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:43:35Z [1,098ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,098ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,100ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,100ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,102ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,102ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,103ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,103ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,106ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,106ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,107ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,107ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,108ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:43:35Z [1,109ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 68568 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:43:35Z [1,564ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:43:35Z [1,572ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:43:35Z [1,573ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:43:36Z [2,266ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:36Z [2,266ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:43:36Z [2,283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:36Z [2,283ms] [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) 2026-08-27T08:43:36Z [2,291ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:36Z [2,291ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:43:36Z [2,298ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:36Z [2,298ms] [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) 2026-08-27T08:43:36Z [2,299ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:36Z [2,299ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:43:36Z [2,300ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:43:36Z [2,300ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:43:36Z [2,545ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:43:36Z [2,945ms] [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. 2026-08-27T08:43:36Z [2,958ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:43:38Z [5,016ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:43:39Z [5,149ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:43:39Z [5,149ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:43:39Z [5,150ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:43:48Z [14,403ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:43:48Z [14,403ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:43:48Z [14,403ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-43-51.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 3.047374 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.955051 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_FAILED output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle0-base3/episode_000004 Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 917, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 678, in main top_projection_pixels = video.validate_camera_projection_coverage( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/inspire_rendering.py", line 263, in validate_camera_projection_coverage raise VideoDiagnosticError( inspire_rendering.VideoDiagnosticError: camera projection point is outside the safe image region: index=864, pixel=[281.11868711610293, 721.0582544863494], safe_min=[0.0, 0.0], safe_max=[960.0, 720.0] PIPER_FINAL_V3_FAILED group=cycle0-base3 episode=episode_000004 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164416.log 2026-08-27T08:44:17Z [144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:17Z [144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:17Z [192ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:44:17Z [196ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:44:17Z [196ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:44:17Z [196ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:44:17Z [759ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:17Z [759ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:18Z [1,236ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,236ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,237ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,237ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,238ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,238ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,243ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,243ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,244ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,244ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:44:18Z [1,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 68685 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:44:18Z [1,709ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:44:18Z [1,716ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:44:18Z [1,717ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:44:19Z [2,534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:19Z [2,534ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:19Z [2,552ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:19Z [2,553ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:19Z [2,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:19Z [2,561ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:19Z [2,577ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:19Z [2,577ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:19Z [2,578ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:19Z [2,578ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:19Z [2,579ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:44:19Z [2,579ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:44:19Z [2,837ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:44:20Z [3,294ms] [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. 2026-08-27T08:44:20Z [3,308ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:44:22Z [5,441ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:44:22Z [5,578ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:44:22Z [5,578ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:44:22Z [5,579ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:44:32Z [15,831ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:44:32Z [15,831ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:44:32Z [15,831ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-44-36.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 3.043586 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 1.003589 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_START frames=106 PIPER_DATASET_RENDER_PROGRESS frame=10/106 PIPER_DATASET_RENDER_PROGRESS frame=20/106 PIPER_DATASET_RENDER_PROGRESS frame=30/106 PIPER_DATASET_RENDER_PROGRESS frame=40/106 PIPER_DATASET_RENDER_PROGRESS frame=50/106 PIPER_DATASET_RENDER_PROGRESS frame=60/106 PIPER_DATASET_RENDER_PROGRESS frame=70/106 PIPER_DATASET_RENDER_PROGRESS frame=80/106 PIPER_DATASET_RENDER_PROGRESS frame=90/106 PIPER_DATASET_RENDER_PROGRESS frame=100/106 PIPER_DATASET_RENDER_PROGRESS frame=106/106 PIPER_RGBD_SEMANTIC_EPISODE_OK output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle3-base3/episode_000001 2026-08-27T08:44:34Z [18,055ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 2026-08-27T08:44:59Z [43,093ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/link8/visuals/gripper_link2/Scene 2026-08-27T08:44:59Z [43,093ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/link8/visuals/gripper_link2/Scene 2026-08-27T08:45:36Z [79,336ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) PIPER_FINAL_V3_DONE group=cycle3-base3 episode=episode_000001 -bash: printf: nominal-final/results/final-delivery/cycle3-base3/cycle3-base3-final-success-000002.npz: invalid number PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000000 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164718.log 2026-08-27T08:47:18Z [186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:18Z [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) 2026-08-27T08:47:19Z [241ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:47:19Z [247ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:47:19Z [247ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:47:19Z [247ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:47:19Z [781ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:19Z [781ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:19Z [1,210ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,211ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,212ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,212ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,213ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,213ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,214ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,214ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,218ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,218ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,219ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,219ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:19Z [1,221ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69731 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:47:20Z [1,692ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:47:20Z [1,699ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:47:20Z [1,700ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:47:21Z [2,626ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:21Z [2,626ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:21Z [2,644ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:21Z [2,644ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:21Z [2,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:21Z [2,653ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:21Z [2,670ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:21Z [2,670ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:21Z [2,671ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:21Z [2,671ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:21Z [2,672ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:21Z [2,672ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:21Z [2,949ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:47:22Z [3,401ms] [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. 2026-08-27T08:47:22Z [3,415ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:47:24Z [5,604ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:47:24Z [5,771ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:47:24Z [5,771ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:47:24Z [5,772ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:47:34Z [15,722ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:47:34Z [15,722ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:47:34Z [15,722ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 833, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 551, in main trace = load_saved_trace(args.rollout) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 84, in load_saved_trace with np.load(path, allow_pickle=False) as archive: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/numpy/lib/npyio.py", line 427, in load fid = stack.enter_context(open(os_fspath(file), "rb")) ^^^^^^^^^^^^^^^^^^^^^^^^^^^ IsADirectoryError: [Errno 21] Is a directory: '/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final' PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000000 status=1 PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000003 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_164738.log 2026-08-27T08:47:39Z [169ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:39Z [169ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:39Z [220ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:47:39Z [225ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:47:39Z [225ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:47:39Z [225ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:47:39Z [834ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:39Z [834ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:40Z [1,304ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,304ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,305ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,305ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,307ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,307ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,308ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,311ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,311ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,312ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,312ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,313ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,313ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:47:40Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69849 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:47:40Z [1,764ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:47:40Z [1,773ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:47:40Z [1,773ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:47:41Z [2,562ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:41Z [2,562ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:41Z [2,580ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:41Z [2,580ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:41Z [2,595ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:41Z [2,595ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:41Z [2,603ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:41Z [2,603ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:41Z [2,605ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:41Z [2,605ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:41Z [2,606ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:47:41Z [2,606ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:47:41Z [2,853ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:47:42Z [3,245ms] [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. 2026-08-27T08:47:42Z [3,257ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:47:44Z [5,326ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:47:44Z [5,438ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:47:44Z [5,438ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:47:44Z [5,439ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:47:53Z [15,015ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:47:53Z [15,015ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:47:53Z [15,015ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-47-57.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 2.943339 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 1.005132 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_START frames=105 PIPER_DATASET_RENDER_PROGRESS frame=10/105 PIPER_DATASET_RENDER_PROGRESS frame=20/105 PIPER_DATASET_RENDER_PROGRESS frame=30/105 PIPER_DATASET_RENDER_PROGRESS frame=40/105 PIPER_DATASET_RENDER_PROGRESS frame=50/105 PIPER_DATASET_RENDER_PROGRESS frame=60/105 PIPER_DATASET_RENDER_PROGRESS frame=70/105 PIPER_DATASET_RENDER_PROGRESS frame=80/105 PIPER_DATASET_RENDER_PROGRESS frame=90/105 PIPER_DATASET_RENDER_PROGRESS frame=100/105 PIPER_DATASET_RENDER_PROGRESS frame=105/105 PIPER_RGBD_SEMANTIC_EPISODE_OK output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle3-base3/episode_000003 2026-08-27T08:47:56Z [17,226ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 2026-08-27T08:48:12Z [33,628ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/link8/visuals/gripper_link2/Scene 2026-08-27T08:48:12Z [33,628ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/link8/visuals/gripper_link2/Scene 2026-08-27T08:48:49Z [70,763ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) PIPER_FINAL_V3_DONE group=cycle3-base3 episode=episode_000003 -bash: printf: ominal-final/results/final-delivery/cycle3-base3/cycle3-base3-final-success-000004.npz: invalid number PIPER_FINAL_V3_START group=cycle3-base3 episode=episode_000000 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_165030.log 2026-08-27T08:50:30Z [165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:30Z [165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:30Z [215ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:50:30Z [220ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:50:30Z [220ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:50:30Z [220ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:50:30Z [728ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:30Z [728ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:31Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,176ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,176ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,178ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,178ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,182ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,182ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:31Z [1,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69823 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:50:31Z [1,639ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:50:31Z [1,646ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:50:31Z [1,648ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:50:32Z [2,475ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:32Z [2,475ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:32Z [2,494ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:32Z [2,494ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:32Z [2,503ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:32Z [2,503ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:32Z [2,510ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:32Z [2,510ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:32Z [2,512ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:32Z [2,512ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:32Z [2,513ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:32Z [2,513ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:32Z [2,774ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:50:33Z [3,236ms] [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. 2026-08-27T08:50:33Z [3,250ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:50:35Z [5,467ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:50:35Z [5,619ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:50:35Z [5,619ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:50:35Z [5,620ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:50:45Z [15,534ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:50:45Z [15,534ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:50:45Z [15,534ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 833, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 551, in main trace = load_saved_trace(args.rollout) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 84, in load_saved_trace with np.load(path, allow_pickle=False) as archive: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/numpy/lib/npyio.py", line 427, in load fid = stack.enter_context(open(os_fspath(file), "rb")) ^^^^^^^^^^^^^^^^^^^^^^^^^^^ IsADirectoryError: [Errno 21] Is a directory: '/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final' PIPER_FINAL_V3_FAILED group=cycle3-base3 episode=episode_000000 status=1 PIPER_FINAL_V3_START group=cycle1-base2 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_165050.log 2026-08-27T08:50:50Z [173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:50Z [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) 2026-08-27T08:50:50Z [225ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T08:50:50Z [231ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T08:50:50Z [231ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T08:50:50Z [231ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T08:50:50Z [840ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:50Z [840ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:51Z [1,310ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,310ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,316ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,316ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,321ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,321ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,324ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T08:50:51Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 69890 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T08:50:51Z [1,781ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T08:50:51Z [1,791ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T08:50:51Z [1,792ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T08:50:52Z [2,582ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:52Z [2,582ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:52Z [2,600ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:52Z [2,600ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:52Z [2,609ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:52Z [2,609ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:52Z [2,616ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:52Z [2,616ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:52Z [2,618ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:52Z [2,618ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:52Z [2,619ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T08:50:52Z [2,619ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T08:50:53Z [2,894ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T08:50:53Z [3,333ms] [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. 2026-08-27T08:50:53Z [3,346ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T08:50:55Z [5,445ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T08:50:55Z [5,558ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T08:50:55Z [5,558ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T08:50:55Z [5,559ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T08:51:05Z [15,508ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T08:51:05Z [15,508ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T08:51:05Z [15,508ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_16-51-08.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 2.994312 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.988700 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_START frames=599 PIPER_DATASET_RENDER_PROGRESS frame=10/599 PIPER_DATASET_RENDER_PROGRESS frame=20/599 PIPER_DATASET_RENDER_PROGRESS frame=30/599 PIPER_DATASET_RENDER_PROGRESS frame=40/599 PIPER_DATASET_RENDER_PROGRESS frame=50/599 PIPER_DATASET_RENDER_PROGRESS frame=60/599 PIPER_DATASET_RENDER_PROGRESS frame=70/599 PIPER_DATASET_RENDER_PROGRESS frame=80/599 PIPER_DATASET_RENDER_PROGRESS frame=90/599 PIPER_DATASET_RENDER_PROGRESS frame=100/599 PIPER_DATASET_RENDER_PROGRESS frame=110/599 PIPER_DATASET_RENDER_PROGRESS frame=120/599 PIPER_DATASET_RENDER_PROGRESS frame=130/599 PIPER_DATASET_RENDER_PROGRESS frame=140/599 PIPER_DATASET_RENDER_PROGRESS frame=150/599 PIPER_DATASET_RENDER_PROGRESS frame=160/599 PIPER_DATASET_RENDER_PROGRESS frame=170/599 PIPER_DATASET_RENDER_PROGRESS frame=180/599 PIPER_DATASET_RENDER_PROGRESS frame=190/599 PIPER_DATASET_RENDER_PROGRESS frame=200/599 PIPER_DATASET_RENDER_PROGRESS frame=210/599 PIPER_DATASET_RENDER_PROGRESS frame=220/599 PIPER_DATASET_RENDER_PROGRESS frame=230/599 PIPER_DATASET_RENDER_PROGRESS frame=240/599 PIPER_DATASET_RENDER_PROGRESS frame=250/599 PIPER_DATASET_RENDER_PROGRESS frame=260/599 PIPER_DATASET_RENDER_PROGRESS frame=270/599 PIPER_DATASET_RENDER_PROGRESS frame=280/599 PIPER_DATASET_RENDER_PROGRESS frame=290/599 PIPER_DATASET_RENDER_PROGRESS frame=300/599 PIPER_DATASET_RENDER_PROGRESS frame=310/599 PIPER_DATASET_RENDER_PROGRESS frame=320/599 PIPER_DATASET_RENDER_PROGRESS frame=330/599 PIPER_DATASET_RENDER_PROGRESS frame=340/599 PIPER_DATASET_RENDER_PROGRESS frame=350/599 PIPER_DATASET_RENDER_PROGRESS frame=360/599 PIPER_DATASET_RENDER_PROGRESS frame=370/599 PIPER_DATASET_RENDER_PROGRESS frame=380/599 PIPER_DATASET_RENDER_PROGRESS frame=390/599 PIPER_DATASET_RENDER_PROGRESS frame=400/599 PIPER_DATASET_RENDER_PROGRESS frame=410/599 PIPER_DATASET_RENDER_PROGRESS frame=420/599 PIPER_DATASET_RENDER_PROGRESS frame=430/599 PIPER_DATASET_RENDER_PROGRESS frame=440/599 PIPER_DATASET_RENDER_PROGRESS frame=450/599 PIPER_DATASET_RENDER_PROGRESS frame=460/599 PIPER_DATASET_RENDER_PROGRESS frame=470/599 PIPER_DATASET_RENDER_PROGRESS frame=480/599 PIPER_DATASET_RENDER_PROGRESS frame=490/599 PIPER_DATASET_RENDER_PROGRESS frame=500/599 PIPER_DATASET_RENDER_PROGRESS frame=510/599 PIPER_DATASET_RENDER_PROGRESS frame=520/599 PIPER_DATASET_RENDER_PROGRESS frame=530/599 PIPER_DATASET_RENDER_PROGRESS frame=540/599 PIPER_DATASET_RENDER_PROGRESS frame=550/599 PIPER_DATASET_RENDER_PROGRESS frame=560/599 PIPER_DATASET_RENDER_PROGRESS frame=570/599 PIPER_DATASET_RENDER_PROGRESS frame=580/599 PIPER_DATASET_RENDER_PROGRESS frame=590/599 PIPER_DATASET_RENDER_PROGRESS frame=599/599 PIPER_RGBD_SEMANTIC_EPISODE_OK output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle1-base2/episode_000001 2026-08-27T08:51:07Z [17,686ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 2026-08-27T08:51:22Z [32,725ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/link8/visuals/gripper_link2/Scene 2026-08-27T08:51:22Z [32,725ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/link8/visuals/gripper_link2/Scene 2026-08-27T08:51:53Z [62,952ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) PIPER_FINAL_V3_DONE group=cycle1-base2 episode=episode_000001 -bash: printf: -delivery-v2/cycle1-base2/cycle1-base2-final-failure-000002.npz: invalid number PIPER_FINAL_V3_START group=cycle1-base2 episode=episode_000000 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_170038.log 2026-08-27T09:00:38Z [180ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:38Z [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) 2026-08-27T09:00:38Z [230ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T09:00:38Z [235ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T09:00:38Z [235ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T09:00:38Z [235ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T09:00:39Z [778ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:39Z [778ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:39Z [1,316ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,316ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,323ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,323ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:00:39Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 73147 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T09:00:40Z [1,783ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T09:00:40Z [1,793ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T09:00:40Z [1,794ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T09:00:41Z [2,594ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:41Z [2,594ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:41Z [2,613ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:41Z [2,613ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:41Z [2,622ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:41Z [2,622ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:41Z [2,631ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:41Z [2,631ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:41Z [2,632ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:41Z [2,632ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:41Z [2,633ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:41Z [2,633ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:00:41Z [2,915ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T09:00:41Z [3,363ms] [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. 2026-08-27T09:00:41Z [3,377ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T09:00:44Z [5,583ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T09:00:44Z [5,780ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T09:00:44Z [5,780ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T09:00:44Z [5,781ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T09:00:54Z [16,027ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T09:00:54Z [16,028ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T09:00:54Z [16,028ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 833, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 551, in main trace = load_saved_trace(args.rollout) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 84, in load_saved_trace with np.load(path, allow_pickle=False) as archive: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/numpy/lib/npyio.py", line 427, in load fid = stack.enter_context(open(os_fspath(file), "rb")) ^^^^^^^^^^^^^^^^^^^^^^^^^^^ IsADirectoryError: [Errno 21] Is a directory: '/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final' PIPER_FINAL_V3_FAILED group=cycle1-base2 episode=episode_000000 status=1 PIPER_FINAL_V3_START group=cycle4-base0 episode=episode_000001 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_170058.log 2026-08-27T09:00:59Z [161ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:59Z [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) 2026-08-27T09:00:59Z [213ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T09:00:59Z [216ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T09:00:59Z [217ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T09:00:59Z [217ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T09:00:59Z [718ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:00:59Z [718ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:00Z [1,169ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,170ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,171ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,171ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,172ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,172ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,173ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,173ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,177ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,177ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,178ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,178ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:01:00Z [1,179ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 73118 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T09:01:00Z [1,629ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T09:01:00Z [1,637ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T09:01:00Z [1,638ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T09:01:01Z [2,502ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:01:01Z [2,502ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:01Z [2,519ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:01:01Z [2,519ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:01Z [2,527ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:01:01Z [2,527ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:01Z [2,534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:01:01Z [2,534ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:01Z [2,535ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:01:01Z [2,535ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:01Z [2,536ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:01:01Z [2,536ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:01:01Z [2,798ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T09:01:02Z [3,228ms] [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. 2026-08-27T09:01:02Z [3,241ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T09:01:04Z [5,392ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T09:01:04Z [5,524ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T09:01:04Z [5,524ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T09:01:04Z [5,525ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T09:01:14Z [15,553ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T09:01:14Z [15,554ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T09:01:14Z [15,554ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp. [INFO][AppLauncher]: Using device: cuda:0 [INFO][AppLauncher]: Loading experience file: /home/zhouyingchengliao/project/ljt/IsaacLab/apps/isaaclab.python.headless.rendering.kit [INFO]: Parsing configuration from: dexplore_lab_v2.tasks.direct.piper_reference.piper_reference_env_cfg:PiperReferenceEnvCfg ====================================================================================== [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-27_17-01-18.log ====================================================================================== [INFO]: Base environment: Environment device : cuda:0 Environment seed : 42 Physics step-size : 0.008333333333333333 Rendering step-size : 0.03333333333333333 Environment step-size : 0.03333333333333333 [INFO]: Time taken for scene creation : 2.967275 seconds [INFO]: Scene manager: Number of environments: 1 Environment spacing : 2.0 Source prim name : /World/envs/env_0 Global prim paths : [] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... [INFO]: Time taken for simulation start : 0.941264 seconds [INFO]: Completed setting up the environment... PIPER_DATASET_RENDER_START frames=599 PIPER_DATASET_RENDER_PROGRESS frame=10/599 PIPER_DATASET_RENDER_PROGRESS frame=20/599 PIPER_DATASET_RENDER_PROGRESS frame=30/599 PIPER_DATASET_RENDER_PROGRESS frame=40/599 PIPER_DATASET_RENDER_PROGRESS frame=50/599 PIPER_DATASET_RENDER_PROGRESS frame=60/599 PIPER_DATASET_RENDER_PROGRESS frame=70/599 PIPER_DATASET_RENDER_PROGRESS frame=80/599 PIPER_DATASET_RENDER_PROGRESS frame=90/599 PIPER_DATASET_RENDER_PROGRESS frame=100/599 PIPER_DATASET_RENDER_PROGRESS frame=110/599 PIPER_DATASET_RENDER_PROGRESS frame=120/599 PIPER_DATASET_RENDER_PROGRESS frame=130/599 PIPER_DATASET_RENDER_PROGRESS frame=140/599 PIPER_DATASET_RENDER_PROGRESS frame=150/599 PIPER_DATASET_RENDER_PROGRESS frame=160/599 PIPER_DATASET_RENDER_PROGRESS frame=170/599 PIPER_DATASET_RENDER_PROGRESS frame=180/599 PIPER_DATASET_RENDER_PROGRESS frame=190/599 PIPER_DATASET_RENDER_PROGRESS frame=200/599 PIPER_DATASET_RENDER_PROGRESS frame=210/599 PIPER_DATASET_RENDER_PROGRESS frame=220/599 PIPER_DATASET_RENDER_PROGRESS frame=230/599 PIPER_DATASET_RENDER_PROGRESS frame=240/599 PIPER_DATASET_RENDER_PROGRESS frame=250/599 PIPER_DATASET_RENDER_PROGRESS frame=260/599 PIPER_DATASET_RENDER_PROGRESS frame=270/599 PIPER_DATASET_RENDER_PROGRESS frame=280/599 PIPER_DATASET_RENDER_PROGRESS frame=290/599 PIPER_DATASET_RENDER_PROGRESS frame=300/599 PIPER_DATASET_RENDER_PROGRESS frame=310/599 PIPER_DATASET_RENDER_PROGRESS frame=320/599 PIPER_DATASET_RENDER_PROGRESS frame=330/599 PIPER_DATASET_RENDER_PROGRESS frame=340/599 PIPER_DATASET_RENDER_PROGRESS frame=350/599 PIPER_DATASET_RENDER_PROGRESS frame=360/599 PIPER_DATASET_RENDER_PROGRESS frame=370/599 PIPER_DATASET_RENDER_PROGRESS frame=380/599 PIPER_DATASET_RENDER_PROGRESS frame=390/599 PIPER_DATASET_RENDER_PROGRESS frame=400/599 PIPER_DATASET_RENDER_PROGRESS frame=410/599 PIPER_DATASET_RENDER_PROGRESS frame=420/599 PIPER_DATASET_RENDER_PROGRESS frame=430/599 PIPER_DATASET_RENDER_PROGRESS frame=440/599 PIPER_DATASET_RENDER_PROGRESS frame=450/599 PIPER_DATASET_RENDER_PROGRESS frame=460/599 PIPER_DATASET_RENDER_PROGRESS frame=470/599 PIPER_DATASET_RENDER_PROGRESS frame=480/599 PIPER_DATASET_RENDER_PROGRESS frame=490/599 PIPER_DATASET_RENDER_PROGRESS frame=500/599 PIPER_DATASET_RENDER_PROGRESS frame=510/599 PIPER_DATASET_RENDER_PROGRESS frame=520/599 PIPER_DATASET_RENDER_PROGRESS frame=530/599 PIPER_DATASET_RENDER_PROGRESS frame=540/599 PIPER_DATASET_RENDER_PROGRESS frame=550/599 PIPER_DATASET_RENDER_PROGRESS frame=560/599 PIPER_DATASET_RENDER_PROGRESS frame=570/599 PIPER_DATASET_RENDER_PROGRESS frame=580/599 PIPER_DATASET_RENDER_PROGRESS frame=590/599 PIPER_DATASET_RENDER_PROGRESS frame=599/599 PIPER_RGBD_SEMANTIC_EPISODE_OK output=/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/results/final-delivery-v3/cycle4-base0/episode_000001 2026-08-27T09:01:16Z [17,902ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 2026-08-27T09:01:34Z [35,965ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/link8/collisions/link8/node_STL_BINARY_ 2026-08-27T09:01:34Z [35,965ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/link8/collisions/link8/node_STL_BINARY_ 2026-08-27T09:02:10Z [71,583ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) PIPER_FINAL_V3_DONE group=cycle4-base0 episode=episode_000001 -bash: printf: ase0-best-failure-000002.npz: invalid number PIPER_FINAL_V3_START group=cycle4-base0 episode=episode_000000 Loading user config located at: '/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' [Info] [carb] Logging to file: /home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260827_171326.log 2026-08-27T09:13:26Z [175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:26Z [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) 2026-08-27T09:13:26Z [227ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. 2026-08-27T09:13:26Z [231ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. 2026-08-27T09:13:26Z [231ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. 2026-08-27T09:13:26Z [231ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. 2026-08-27T09:13:27Z [749ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:27Z [749ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:28Z [1,328ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,328ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,329ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,329ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,330ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,330ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,331ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,331ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,334ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,334ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,335ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,335ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,336ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,336ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A100 80GB PCIe 2026-08-27T09:13:28Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. |---------------------------------------------------------------------------------------------| | Driver Version: 555.42.06 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 9e2788bc.. | | | | | | | 4f | | |---------------------------------------------------------------------------------------------| | 1 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 0c375f54.. | | | | | | | 52 | | |---------------------------------------------------------------------------------------------| | 2 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | 4cabe2a5.. | | | | | | | 56 | | |---------------------------------------------------------------------------------------------| | 3 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ed17e16d.. | | | | | | | 57 | | |---------------------------------------------------------------------------------------------| | 4 | NVIDIA A100 80GB PCIe | Yes: 0 | | 81920 MB | 10de | 0 | | | | | | | 20b5 | d698218c.. | | | | | | | ce | | |---------------------------------------------------------------------------------------------| | 5 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | bbe7678b.. | | | | | | | d1 | | |---------------------------------------------------------------------------------------------| | 6 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/torch/cuda/__init__.py:58: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. import pynvml # type: ignore[import] | | | | | | | 20b5 | 9b9a68d6.. | | | | | | | d5 | | |---------------------------------------------------------------------------------------------| | 7 | NVIDIA A100 80GB PCIe | | | 81920 MB | 10de | 0 | | | | | | | 20b5 | ee538b0f.. | | | | | | | d6 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-139-generic | Processor: Intel(R) Xeon(R) Platinum 8375C CPU @ 2.90GHz | Cores: 64 | Logical Cores: 128 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 515598 | Free Memory: 73518 | Total Page/Swap (MB): 2047 | Free Page/Swap: 17592186044414 |---------------------------------------------------------------------------------------------| 2026-08-27T09:13:28Z [1,796ms] [Warning] [gpu.foundation.plugin] Different types of CPU governors are being used accross cores. 2026-08-27T09:13:28Z [1,806ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4 2026-08-27T09:13:28Z [1,807ms] [Warning] [gpu.foundation.plugin] PCIe link width current (1) and maximum (16) for device 4 don't match. 2026-08-27T09:13:29Z [2,605ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:29Z [2,605ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:29Z [2,626ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:29Z [2,627ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:29Z [2,636ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:29Z [2,636ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:29Z [2,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:29Z [2,653ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:29Z [2,654ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:29Z [2,654ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:29Z [2,655ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. 2026-08-27T09:13:29Z [2,655ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) 2026-08-27T09:13:29Z [2,929ms] [Warning] [omni.log] Source: omni.hydra was already registered. 2026-08-27T09:13:30Z [3,340ms] [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. 2026-08-27T09:13:30Z [3,354ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. 2026-08-27T09:13:32Z [5,469ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead 2026-08-27T09:13:32Z [5,599ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' 2026-08-27T09:13:32Z [5,599ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' 2026-08-27T09:13:32Z [5,600ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. 2026-08-27T09:13:41Z [15,091ms] [Warning] [carb.graphics-vulkan.plugin] NGX does not support feature SuperSamplingDenoising.Available. 2026-08-27T09:13:41Z [15,091ms] [Warning] [rtx.postprocessing.plugin] NGX cannot find DLSS-RR feature or it is not supported for the current hardware/driver. 2026-08-27T09:13:41Z [15,091ms] [Error] [rtx.postprocessing.plugin] createDLSSContext error: unable to initialize context. Optional DLSS feature is disabled. Traceback (most recent call last): File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 833, in main() File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 551, in main trace = load_saved_trace(args.rollout) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final/scripts/replay_piper_open_loop.py", line 84, in load_saved_trace with np.load(path, allow_pickle=False) as archive: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/home/zhouyingchengliao/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/numpy/lib/npyio.py", line 427, in load fid = stack.enter_context(open(os_fspath(file), "rb")) ^^^^^^^^^^^^^^^^^^^^^^^^^^^ IsADirectoryError: [Errno 21] Is a directory: '/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final' PIPER_FINAL_V3_FAILED group=cycle4-base0 episode=episode_000000 status=1 (base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ echo PIPER_FINAL_V3_QUEUE_COMPLETE PIPER_FINAL_V3_QUEUE_COMPLETE (base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$ (base) zhouyingchengliao@rsm-gamma:/data4/zliao/ljt/retargeting_worktrees/piper-multinominal-final$