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{"time":{"timestamp_ns":1480145981421585,"clock_domain":"monotonic","synchronized_to":null,"uncertainty_ns":null},"segment_id":"seg_51","objects":{"table":{"parent_frame":"world","child_frame":"table","translation":{"x":0.5471391081809998,"y":9.915820697870004e-8,"z":-0.3470000624656677},"rotation":{"w":0.9999999999999776,"x":1.5878127701540378e-9,"y":1.0616507495342137e-7,"z":-1.8329069462196957e-7}},"clay_plates_1":{"parent_frame":"world","child_frame":"clay_plates_1","translation":{"x":0.592176616191864,"y":0.007896026596426964,"z":0.0026799291372299194},"rotation":{"w":0.9927507706147148,"x":0.00020378389182192146,"y":0.0024862810480476335,"z":0.12016523757961513}},"red_block_1":{"parent_frame":"world","child_frame":"red_block_1","translation":{"x":0.35567304491996765,"y":-0.35133489966392517,"z":0.026502203196287155},"rotation":{"w":0.5420502570039857,"x":-0.5420500185854003,"y":0.45407180219347987,"z":-0.4540727856701451}}}}
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{"time":{"timestamp_ns":1480202448981218,"clock_domain":"monotonic","synchronized_to":null,"uncertainty_ns":null},"segment_id":"seg_53","objects":{"table":{"parent_frame":"world","child_frame":"table","translation":{"x":0.5471398234367371,"y":1.9205585033432726e-7,"z":-0.3470000624656677},"rotation":{"w":0.9999999999999447,"x":4.775346784668691e-10,"y":5.51408518845134e-8,"z":-3.280786131653986e-7}},"clay_plates_1":{"parent_frame":"world","child_frame":"clay_plates_1","translation":{"x":0.5924758315086365,"y":0.007510119117796421,"z":0.0026799440383911133},"rotation":{"w":0.9924820723064506,"x":0.00019829106819465973,"y":0.0024864228403902408,"z":0.12236467845095007}},"red_block_1":{"parent_frame":"world","child_frame":"red_block_1","translation":{"x":0.7595958113670349,"y":0.321908175945282,"z":0.02650216408073902},"rotation":{"w":0.45599117883960055,"x":-0.45599043378158943,"y":0.5404368286827927,"z":-0.5404376035431243}}}}
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{"time":{"timestamp_ns":1480217865414566,"clock_domain":"monotonic","synchronized_to":null,"uncertainty_ns":null},"segment_id":"seg_54","objects":{"table":{"parent_frame":"world","child_frame":"table","translation":{"x":0.5471398234367371,"y":1.9210264667890442e-7,"z":-0.3470000624656677},"rotation":{"w":0.9999999999999374,"x":-6.01377303510693e-9,"y":9.365806619143182e-8,"z":-3.41585973728776e-7}},"clay_plates_1":{"parent_frame":"world","child_frame":"clay_plates_1","translation":{"x":0.5924755930900574,"y":0.007510144263505936,"z":0.0026799850165843964},"rotation":{"w":0.9924820788996208,"x":0.00019826458502905504,"y":0.0024852195882705,"z":0.12236464946151322}},"red_block_1":{"parent_frame":"world","child_frame":"red_block_1","translation":{"x":0.7602815628051758,"y":0.322519987821579,"z":0.026502102613449097},"rotation":{"w":0.4384159219851595,"x":-0.4384157133689135,"y":0.5547893953548613,"z":-0.5547899317966366}}}}
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initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1/frames.jsonl
ADDED
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The diff for this file is too large to render.
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initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1/render.log
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@@ -0,0 +1,187 @@
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warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
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[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
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[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
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Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
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[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_202326.log
|
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2026-08-24T00:23:26Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
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2026-08-24T00:23:26Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
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2026-08-24T00:23:26Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
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2026-08-24T00:23:26Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
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2026-08-24T00:23:26Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
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2026-08-24T00:23:26Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
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2026-08-24T00:23:26Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
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2026-08-24T00:23:26Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
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2026-08-24T00:23:26Z [119ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T00:23:26Z [119ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
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2026-08-24T00:23:26Z [149ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T00:23:26Z [388ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T00:23:26Z [388ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T00:23:26Z [389ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
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|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 97073
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T00:23:27Z [963ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T00:23:27Z [966ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T00:23:27Z [966ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1528.86 42.99
|
| 49 |
+
1 43.28 1553.71
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.07 14.24
|
| 53 |
+
1 14.31 2.07
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.82 5.02
|
| 57 |
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1 4.90 1.79
|
| 58 |
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2026-08-24T00:23:27Z [1,023ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 43.0 GB/s.
|
| 59 |
+
2026-08-24T00:23:27Z [1,023ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 14.3 us.
|
| 60 |
+
2026-08-24T00:23:27Z [1,023ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T00:23:27Z [1,503ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T00:23:27Z [1,503ms] [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)
|
| 63 |
+
2026-08-24T00:23:27Z [1,521ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T00:23:27Z [1,521ms] [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)
|
| 65 |
+
2026-08-24T00:23:27Z [1,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T00:23:27Z [1,528ms] [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)
|
| 67 |
+
2026-08-24T00:23:27Z [1,543ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T00:23:27Z [1,543ms] [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)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 10s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 321, "robot_states": 1461, "entity_states": 321}
|
| 78 |
+
2026-08-24T00:23:27Z [1,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 79 |
+
2026-08-24T00:23:27Z [1,544ms] [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)
|
| 80 |
+
2026-08-24T00:23:27Z [1,545ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T00:23:27Z [1,545ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 82 |
+
2026-08-24T00:23:27Z [1,650ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 83 |
+
2026-08-24T00:23:28Z [2,015ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 84 |
+
2026-08-24T00:23:31Z [5,230ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 85 |
+
2026-08-24T00:23:31Z [5,345ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 86 |
+
2026-08-24T00:23:33Z [7,422ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 87 |
+
2026-08-24T00:23:33Z [7,551ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 88 |
+
2026-08-24T00:23:35Z [8,983ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 89 |
+
2026-08-24T00:23:35Z [8,983ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T00:23:35Z [8,983ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 91 |
+
2026-08-24T00:23:35Z [8,991ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 92 |
+
|
| 93 |
+
2026-08-24T00:23:35Z [8,998ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 94 |
+
2026-08-24T00:23:35Z [8,998ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 95 |
+
2026-08-24T00:23:37Z [11,571ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 96 |
+
2026-08-24T00:23:37Z [11,596ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 97 |
+
2026-08-24T00:23:37Z [11,702ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 98 |
+
2026-08-24T00:23:39Z [13,080ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 99 |
+
2026-08-24T00:23:39Z [13,080ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 100 |
+
2026-08-24T00:23:39Z [13,082ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 101 |
+
2026-08-24T00:23:39Z [13,082ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 102 |
+
2026-08-24T00:23:39Z [13,083ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 103 |
+
2026-08-24T00:23:39Z [13,083ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 104 |
+
2026-08-24T00:23:39Z [13,083ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 105 |
+
2026-08-24T00:23:39Z [13,165ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 106 |
+
2026-08-24T00:23:39Z [13,173ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 107 |
+
2026-08-24T00:23:41Z [15,645ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
|
| 108 |
+
2026-08-24T00:23:41Z [15,645ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
|
| 109 |
+
2026-08-24T00:23:46Z [20,516ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 110 |
+
2026-08-24T00:23:46Z [20,661ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 111 |
+
2026-08-24T00:23:46Z [20,677ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T00:23:46Z [20,677ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
|
| 113 |
+
2026-08-24T00:23:46Z [20,717ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 114 |
+
2026-08-24T00:23:46Z [20,717ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 115 |
+
2026-08-24T00:23:46Z [20,717ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 116 |
+
2026-08-24T00:23:46Z [20,717ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 117 |
+
2026-08-24T00:23:46Z [20,718ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 118 |
+
2026-08-24T00:23:46Z [20,718ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 119 |
+
[INFO]: Base environment:
|
| 120 |
+
Environment device : cpu
|
| 121 |
+
Environment seed : None
|
| 122 |
+
Physics step-size : 0.008333333333333333
|
| 123 |
+
Rendering step-size : 0.008333333333333333
|
| 124 |
+
Environment step-size : 0.03333333333333333
|
| 125 |
+
[INFO]: Time taken for scene creation : 0.064463 seconds
|
| 126 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 127 |
+
Number of environments: 1
|
| 128 |
+
Environment spacing : 10.0
|
| 129 |
+
Source prim name : /World/envs/env_0
|
| 130 |
+
Global prim paths : []
|
| 131 |
+
Replicate physics : True
|
| 132 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 133 |
+
[INFO]: Time taken for simulation start : 9.046130 seconds
|
| 134 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 135 |
+
+---------------------------------+
|
| 136 |
+
| Active Event Terms in Mode: 'reset' |
|
| 137 |
+
+------------+--------------------+
|
| 138 |
+
| Index | Name |
|
| 139 |
+
+------------+--------------------+
|
| 140 |
+
| 0 | reset_all |
|
| 141 |
+
+------------+--------------------+
|
| 142 |
+
|
| 143 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 144 |
+
+---------------------+
|
| 145 |
+
| Active Recorder Terms |
|
| 146 |
+
+-----------+---------+
|
| 147 |
+
| Index | Name |
|
| 148 |
+
+-----------+---------+
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
|
| 151 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 152 |
+
+-----------------------------------+
|
| 153 |
+
| Active Action Terms (shape: 9) |
|
| 154 |
+
+--------+-------------+------------+
|
| 155 |
+
| Index | Name | Dimension |
|
| 156 |
+
+--------+-------------+------------+
|
| 157 |
+
| 0 | arm_action | 7 |
|
| 158 |
+
| 1 | jaw | 2 |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
|
| 161 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 162 |
+
+------------------------------------------+
|
| 163 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 164 |
+
+-----------+------------------+-----------+
|
| 165 |
+
| Index | Name | Shape |
|
| 166 |
+
+-----------+------------------+-----------+
|
| 167 |
+
| 0 | joint_pos | (13,) |
|
| 168 |
+
+-----------+------------------+-----------+
|
| 169 |
+
|
| 170 |
+
Setting seed: 0
|
| 171 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 172 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 173 |
+
SESSION_EVENT {"event": "render_started", "ticks": 321, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 174 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 321}
|
| 175 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 321}
|
| 176 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 321}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 321}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 321}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 321}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 321}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 321}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 321}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 270, "total": 321}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 300, "total": 321}
|
| 185 |
+
SESSION_EVENT {"event": "render_done", "frames": 321, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 186 |
+
2026-08-24T00:23:47Z [20,851ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/robot/panda_link7/geometry/panda_link7' update topology/point without updating normal, fallback to smooth normal.
|
| 187 |
+
2026-08-24T00:23:47Z [21,374ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1/render_manifest.json
ADDED
|
@@ -0,0 +1,378 @@
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| 344 |
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"cy": 180.0
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"over_shoulder_left": {
|
| 348 |
+
"mount": "fixed",
|
| 349 |
+
"parent_frame": "world",
|
| 350 |
+
"intrinsics": {
|
| 351 |
+
"fx": 249.99999999999994,
|
| 352 |
+
"fy": 249.99999999999994,
|
| 353 |
+
"cx": 320.0,
|
| 354 |
+
"cy": 180.0
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
"over_shoulder_right": {
|
| 358 |
+
"mount": "fixed",
|
| 359 |
+
"parent_frame": "world",
|
| 360 |
+
"intrinsics": {
|
| 361 |
+
"fx": 249.99999999999994,
|
| 362 |
+
"fy": 249.99999999999994,
|
| 363 |
+
"cx": 320.0,
|
| 364 |
+
"cy": 180.0
|
| 365 |
+
}
|
| 366 |
+
}
|
| 367 |
+
},
|
| 368 |
+
"id_to_label": {},
|
| 369 |
+
"fixture_joint_self_check_rad": {},
|
| 370 |
+
"joint_tracking_error_max": {
|
| 371 |
+
"robot": 0.0
|
| 372 |
+
},
|
| 373 |
+
"counts": {
|
| 374 |
+
"wrist/rgb": 321,
|
| 375 |
+
"over_shoulder_left/rgb": 321,
|
| 376 |
+
"over_shoulder_right/rgb": 321
|
| 377 |
+
}
|
| 378 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1/render_spec.json
ADDED
|
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0",
|
| 3 |
+
"segment_id": "seg_0",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"cameras": [
|
| 12 |
+
{
|
| 13 |
+
"name": "wrist",
|
| 14 |
+
"mount": "wrist",
|
| 15 |
+
"parent_frame": "robot_wrist_mount",
|
| 16 |
+
"translation": [
|
| 17 |
+
0.011,
|
| 18 |
+
-0.031,
|
| 19 |
+
-0.074
|
| 20 |
+
],
|
| 21 |
+
"rotation_wxyz": [
|
| 22 |
+
-0.5698982822341216,
|
| 23 |
+
-0.41992505006724756,
|
| 24 |
+
-0.4089270130416768,
|
| 25 |
+
-0.5758972115207966
|
| 26 |
+
],
|
| 27 |
+
"fx": 666.6666666666666,
|
| 28 |
+
"fy": 666.6666666666666,
|
| 29 |
+
"native_width": 1280,
|
| 30 |
+
"native_height": 720
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "over_shoulder_left",
|
| 34 |
+
"mount": "fixed",
|
| 35 |
+
"parent_frame": "world",
|
| 36 |
+
"translation": [
|
| 37 |
+
0.05,
|
| 38 |
+
0.57,
|
| 39 |
+
0.66
|
| 40 |
+
],
|
| 41 |
+
"rotation_wxyz": [
|
| 42 |
+
0.19502925658289574,
|
| 43 |
+
-0.3930589632670668,
|
| 44 |
+
0.805120777175544,
|
| 45 |
+
-0.39905986346961747
|
| 46 |
+
],
|
| 47 |
+
"fx": 499.99999999999994,
|
| 48 |
+
"fy": 500.0,
|
| 49 |
+
"native_width": 1280,
|
| 50 |
+
"native_height": 720
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"name": "over_shoulder_right",
|
| 54 |
+
"mount": "fixed",
|
| 55 |
+
"parent_frame": "world",
|
| 56 |
+
"translation": [
|
| 57 |
+
0.05,
|
| 58 |
+
-0.57,
|
| 59 |
+
0.66
|
| 60 |
+
],
|
| 61 |
+
"rotation_wxyz": [
|
| 62 |
+
-0.39905986346961747,
|
| 63 |
+
0.805120777175544,
|
| 64 |
+
-0.3930589632670668,
|
| 65 |
+
0.19502925658289574
|
| 66 |
+
],
|
| 67 |
+
"fx": 499.99999999999994,
|
| 68 |
+
"fy": 500.0,
|
| 69 |
+
"native_width": 1280,
|
| 70 |
+
"native_height": 720
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"out_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1",
|
| 74 |
+
"tick_source": "robot_link_states",
|
| 75 |
+
"environment": null
|
| 76 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-1/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table"
|
| 12 |
+
{
|
| 13 |
+
bool physics:kinematicEnabled = 1
|
| 14 |
+
|
| 15 |
+
over "table_01"
|
| 16 |
+
{
|
| 17 |
+
over "leg_0"
|
| 18 |
+
{
|
| 19 |
+
bool physics:collisionEnabled = 0
|
| 20 |
+
}
|
| 21 |
+
|
| 22 |
+
over "leg_1"
|
| 23 |
+
{
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_2"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_3"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "top"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
|
| 44 |
+
over "GroundPlane"
|
| 45 |
+
{
|
| 46 |
+
over "CollisionPlane"
|
| 47 |
+
{
|
| 48 |
+
bool physics:collisionEnabled = 0
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
|
| 52 |
+
over "clay_plates_1"
|
| 53 |
+
{
|
| 54 |
+
bool physics:kinematicEnabled = 1
|
| 55 |
+
|
| 56 |
+
over "obj_000003_Mesh"
|
| 57 |
+
{
|
| 58 |
+
bool physics:collisionEnabled = 0
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
|
| 62 |
+
over "red_block_1"
|
| 63 |
+
{
|
| 64 |
+
bool physics:kinematicEnabled = 1
|
| 65 |
+
|
| 66 |
+
over "Cube"
|
| 67 |
+
{
|
| 68 |
+
bool physics:collisionEnabled = 0
|
| 69 |
+
}
|
| 70 |
+
}
|
| 71 |
+
}
|
| 72 |
+
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2/render.log
ADDED
|
@@ -0,0 +1,190 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_205919.log
|
| 6 |
+
2026-08-24T00:59:19Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T00:59:19Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T00:59:19Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T00:59:19Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T00:59:19Z [3ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T00:59:19Z [3ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T00:59:19Z [3ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T00:59:19Z [3ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T00:59:19Z [120ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T00:59:19Z [120ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T00:59:19Z [151ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T00:59:19Z [380ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T00:59:19Z [380ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T00:59:19Z [380ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92440
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T00:59:20Z [1,050ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T00:59:20Z [1,054ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T00:59:20Z [1,054ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1534.87 39.26
|
| 49 |
+
1 41.26 1547.03
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.06 14.05
|
| 53 |
+
1 75.76 2.06
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 2.00 5.08
|
| 57 |
+
1 5.03 1.73
|
| 58 |
+
2026-08-24T00:59:20Z [1,124ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.3 GB/s.
|
| 59 |
+
2026-08-24T00:59:20Z [1,124ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 75.8 us.
|
| 60 |
+
2026-08-24T00:59:20Z [1,124ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T00:59:20Z [1,616ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T00:59:20Z [1,616ms] [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)
|
| 63 |
+
2026-08-24T00:59:20Z [1,635ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T00:59:20Z [1,635ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T00:59:20Z [1,642ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T00:59:20Z [1,642ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 67 |
+
2026-08-24T00:59:20Z [1,658ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T00:59:20Z [1,659ms] [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)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 321, "robot_states": 1461, "entity_states": 321}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_maple, top=Bamboo"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T00:59:20Z [1,660ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T00:59:20Z [1,660ms] [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)
|
| 82 |
+
2026-08-24T00:59:20Z [1,660ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T00:59:20Z [1,660ms] [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)
|
| 84 |
+
2026-08-24T00:59:20Z [1,764ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T00:59:21Z [2,143ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T00:59:24Z [5,385ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T00:59:24Z [5,491ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T00:59:26Z [7,678ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T00:59:26Z [7,679ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T00:59:26Z [7,810ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T00:59:28Z [9,275ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T00:59:28Z [9,275ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T00:59:28Z [9,275ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T00:59:28Z [9,284ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T00:59:28Z [9,293ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T00:59:28Z [9,293ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T00:59:31Z [12,033ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T00:59:31Z [12,058ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T00:59:31Z [12,172ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T00:59:32Z [13,110ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T00:59:32Z [13,110ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T00:59:32Z [13,112ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T00:59:32Z [13,112ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T00:59:32Z [13,113ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T00:59:32Z [13,113ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T00:59:32Z [13,113ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T00:59:32Z [13,214ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T00:59:32Z [13,226ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T00:59:33Z [14,768ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T00:59:33Z [14,768ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T00:59:36Z [17,541ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T00:59:36Z [17,690ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T00:59:36Z [17,710ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T00:59:36Z [17,710ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T00:59:36Z [17,764ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T00:59:36Z [17,764ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T00:59:36Z [17,765ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T00:59:36Z [17,765ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T00:59:36Z [17,765ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T00:59:36Z [17,765ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.070510 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.626299 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 321, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 321}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 321}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 321}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 321}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 321}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 321}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 321}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 321}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 321}
|
| 186 |
+
SESSION_EVENT {"event": "render_progress", "tick": 270, "total": 321}
|
| 187 |
+
SESSION_EVENT {"event": "render_progress", "tick": 300, "total": 321}
|
| 188 |
+
SESSION_EVENT {"event": "render_done", "frames": 321, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 189 |
+
2026-08-24T00:59:37Z [17,930ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/robot/panda_link1/geometry/panda_link1' update topology/point without updating normal, fallback to smooth normal.
|
| 190 |
+
2026-08-24T00:59:37Z [18,672ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2/render_manifest.json
ADDED
|
@@ -0,0 +1,378 @@
|
|
|
|
|
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| 1 |
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{
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| 3 |
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| 4 |
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1478588051959797,
|
| 243 |
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1478588135264712,
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1478588218594765,
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1478588285309167,
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1478588368613250,
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1478588451936853,
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1478588518607329,
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| 249 |
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1478588586160994,
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1478588668622089,
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| 251 |
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1478588751926914,
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| 252 |
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1478588818596649,
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1478588901928845,
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1478588968600552,
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1478589051929533,
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1478589135261199,
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1478589201930053,
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1478589351923691,
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1478589551943281,
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1478589635261676,
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1478589885266136,
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| 267 |
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1478589951937644,
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| 268 |
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1478590035260506,
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1478590101951764,
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1478590168620727,
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1478590251968778,
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| 272 |
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1478590335296127,
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| 273 |
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1478590418602163,
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| 274 |
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1478590485287432,
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| 275 |
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1478590551957197,
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| 276 |
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1478590635260560,
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| 277 |
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1478590718600688,
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| 278 |
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1478590801948407,
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| 279 |
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1478590885268946,
|
| 280 |
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1478590952117100,
|
| 281 |
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1478591035269075,
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| 282 |
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1478591118593880,
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| 283 |
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1478591185265398,
|
| 284 |
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1478591251942384,
|
| 285 |
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1478591318626791,
|
| 286 |
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1478591401927330,
|
| 287 |
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1478591468599299,
|
| 288 |
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1478591535285218,
|
| 289 |
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1478591618617284,
|
| 290 |
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1478591701931233,
|
| 291 |
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1478591768616812,
|
| 292 |
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1478591851935408,
|
| 293 |
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1478591935286113,
|
| 294 |
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1478592018594924,
|
| 295 |
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1478592085264429,
|
| 296 |
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1478592168593181,
|
| 297 |
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1478592235548806,
|
| 298 |
+
1478592318594041,
|
| 299 |
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1478592385261883,
|
| 300 |
+
1478592451951108,
|
| 301 |
+
1478592535288552,
|
| 302 |
+
1478592618596492,
|
| 303 |
+
1478592685283663,
|
| 304 |
+
1478592768593236,
|
| 305 |
+
1478592835261309,
|
| 306 |
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1478592901938756,
|
| 307 |
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1478592985478715,
|
| 308 |
+
1478593068599394,
|
| 309 |
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1478593137395358,
|
| 310 |
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1478593218601686,
|
| 311 |
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1478593301927223,
|
| 312 |
+
1478593385288854,
|
| 313 |
+
1478593468614711,
|
| 314 |
+
1478593535284577,
|
| 315 |
+
1478593618598576,
|
| 316 |
+
1478593701935330,
|
| 317 |
+
1478593768616292,
|
| 318 |
+
1478593835288932,
|
| 319 |
+
1478593918595911,
|
| 320 |
+
1478593985500530,
|
| 321 |
+
1478594068603161,
|
| 322 |
+
1478594135284975,
|
| 323 |
+
1478594201956203,
|
| 324 |
+
1478594285262921,
|
| 325 |
+
1478594351937114,
|
| 326 |
+
1478594435284984,
|
| 327 |
+
1478594518620897,
|
| 328 |
+
1478594601959052,
|
| 329 |
+
1478594685306953,
|
| 330 |
+
1478594768602665,
|
| 331 |
+
1478594835283898,
|
| 332 |
+
1478594918618379,
|
| 333 |
+
1478595002042825,
|
| 334 |
+
1478595085288111
|
| 335 |
+
],
|
| 336 |
+
"cameras": {
|
| 337 |
+
"wrist": {
|
| 338 |
+
"mount": "wrist",
|
| 339 |
+
"parent_frame": "robot_wrist_mount",
|
| 340 |
+
"intrinsics": {
|
| 341 |
+
"fx": 333.3333333333333,
|
| 342 |
+
"fy": 333.3333333333333,
|
| 343 |
+
"cx": 320.0,
|
| 344 |
+
"cy": 180.0
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"over_shoulder_left": {
|
| 348 |
+
"mount": "fixed",
|
| 349 |
+
"parent_frame": "world",
|
| 350 |
+
"intrinsics": {
|
| 351 |
+
"fx": 249.99999999999994,
|
| 352 |
+
"fy": 249.99999999999994,
|
| 353 |
+
"cx": 320.0,
|
| 354 |
+
"cy": 180.0
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
"over_shoulder_right": {
|
| 358 |
+
"mount": "fixed",
|
| 359 |
+
"parent_frame": "world",
|
| 360 |
+
"intrinsics": {
|
| 361 |
+
"fx": 249.99999999999994,
|
| 362 |
+
"fy": 249.99999999999994,
|
| 363 |
+
"cx": 320.0,
|
| 364 |
+
"cy": 180.0
|
| 365 |
+
}
|
| 366 |
+
}
|
| 367 |
+
},
|
| 368 |
+
"id_to_label": {},
|
| 369 |
+
"fixture_joint_self_check_rad": {},
|
| 370 |
+
"joint_tracking_error_max": {
|
| 371 |
+
"robot": 0.0
|
| 372 |
+
},
|
| 373 |
+
"counts": {
|
| 374 |
+
"wrist/rgb": 321,
|
| 375 |
+
"over_shoulder_left/rgb": 321,
|
| 376 |
+
"over_shoulder_right/rgb": 321
|
| 377 |
+
}
|
| 378 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2/render_spec.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0",
|
| 3 |
+
"segment_id": "seg_0",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"cameras": [
|
| 12 |
+
{
|
| 13 |
+
"name": "wrist",
|
| 14 |
+
"mount": "wrist",
|
| 15 |
+
"parent_frame": "robot_wrist_mount",
|
| 16 |
+
"translation": [
|
| 17 |
+
0.011,
|
| 18 |
+
-0.031,
|
| 19 |
+
-0.074
|
| 20 |
+
],
|
| 21 |
+
"rotation_wxyz": [
|
| 22 |
+
-0.5698982822341216,
|
| 23 |
+
-0.41992505006724756,
|
| 24 |
+
-0.4089270130416768,
|
| 25 |
+
-0.5758972115207966
|
| 26 |
+
],
|
| 27 |
+
"fx": 666.6666666666666,
|
| 28 |
+
"fy": 666.6666666666666,
|
| 29 |
+
"native_width": 1280,
|
| 30 |
+
"native_height": 720
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "over_shoulder_left",
|
| 34 |
+
"mount": "fixed",
|
| 35 |
+
"parent_frame": "world",
|
| 36 |
+
"translation": [
|
| 37 |
+
0.05,
|
| 38 |
+
0.57,
|
| 39 |
+
0.66
|
| 40 |
+
],
|
| 41 |
+
"rotation_wxyz": [
|
| 42 |
+
0.19502925658289574,
|
| 43 |
+
-0.3930589632670668,
|
| 44 |
+
0.805120777175544,
|
| 45 |
+
-0.39905986346961747
|
| 46 |
+
],
|
| 47 |
+
"fx": 499.99999999999994,
|
| 48 |
+
"fy": 500.0,
|
| 49 |
+
"native_width": 1280,
|
| 50 |
+
"native_height": 720
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"name": "over_shoulder_right",
|
| 54 |
+
"mount": "fixed",
|
| 55 |
+
"parent_frame": "world",
|
| 56 |
+
"translation": [
|
| 57 |
+
0.05,
|
| 58 |
+
-0.57,
|
| 59 |
+
0.66
|
| 60 |
+
],
|
| 61 |
+
"rotation_wxyz": [
|
| 62 |
+
-0.39905986346961747,
|
| 63 |
+
0.805120777175544,
|
| 64 |
+
-0.3930589632670668,
|
| 65 |
+
0.19502925658289574
|
| 66 |
+
],
|
| 67 |
+
"fx": 499.99999999999994,
|
| 68 |
+
"fy": 500.0,
|
| 69 |
+
"native_width": 1280,
|
| 70 |
+
"native_height": 720
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"out_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2",
|
| 74 |
+
"tick_source": "robot_link_states",
|
| 75 |
+
"environment": {
|
| 76 |
+
"background_hdr": "/home/zhiyanli/myProjects/Olympus/assets/backgrounds/default/aerodynamics_workshop.hdr",
|
| 77 |
+
"dome_intensity": null,
|
| 78 |
+
"distant_intensity": null,
|
| 79 |
+
"distant_elevation_deg": null,
|
| 80 |
+
"distant_azimuth_deg": null,
|
| 81 |
+
"table_fixture": "table_maple",
|
| 82 |
+
"table_top_material": "Bamboo"
|
| 83 |
+
}
|
| 84 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-2/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,77 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table" (
|
| 12 |
+
payload = @/home/zhiyanli/myProjects/Olympus/assets/fixtures/table_maple.usd@
|
| 13 |
+
)
|
| 14 |
+
{
|
| 15 |
+
bool physics:kinematicEnabled = 1
|
| 16 |
+
|
| 17 |
+
over "table_01"
|
| 18 |
+
{
|
| 19 |
+
over "top"
|
| 20 |
+
{
|
| 21 |
+
rel material:binding = </world/table/Looks/Bamboo> (
|
| 22 |
+
bindMaterialAs = "weakerThanDescendants"
|
| 23 |
+
)
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_0"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_1"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "leg_2"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
over "leg_3"
|
| 43 |
+
{
|
| 44 |
+
bool physics:collisionEnabled = 0
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
over "GroundPlane"
|
| 50 |
+
{
|
| 51 |
+
over "CollisionPlane"
|
| 52 |
+
{
|
| 53 |
+
bool physics:collisionEnabled = 0
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
|
| 57 |
+
over "clay_plates_1"
|
| 58 |
+
{
|
| 59 |
+
bool physics:kinematicEnabled = 1
|
| 60 |
+
|
| 61 |
+
over "obj_000003_Mesh"
|
| 62 |
+
{
|
| 63 |
+
bool physics:collisionEnabled = 0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
|
| 67 |
+
over "red_block_1"
|
| 68 |
+
{
|
| 69 |
+
bool physics:kinematicEnabled = 1
|
| 70 |
+
|
| 71 |
+
over "Cube"
|
| 72 |
+
{
|
| 73 |
+
bool physics:collisionEnabled = 0
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-3/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-3/render.log
ADDED
|
@@ -0,0 +1,190 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_205948.log
|
| 6 |
+
2026-08-24T00:59:48Z [0ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T00:59:48Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T00:59:48Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T00:59:48Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T00:59:48Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T00:59:48Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T00:59:48Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T00:59:48Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T00:59:48Z [124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T00:59:48Z [124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T00:59:48Z [156ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T00:59:48Z [398ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T00:59:48Z [398ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T00:59:48Z [399ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92331
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T00:59:49Z [1,054ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T00:59:49Z [1,059ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T00:59:49Z [1,059ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1534.87 39.41
|
| 49 |
+
1 41.30 1543.92
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.06 12.84
|
| 53 |
+
1 32.96 2.07
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.80 5.05
|
| 57 |
+
1 4.99 2.37
|
| 58 |
+
2026-08-24T00:59:49Z [1,122ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.4 GB/s.
|
| 59 |
+
2026-08-24T00:59:49Z [1,123ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 33.0 us.
|
| 60 |
+
2026-08-24T00:59:49Z [1,123ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T00:59:50Z [1,637ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T00:59:50Z [1,637ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 63 |
+
2026-08-24T00:59:50Z [1,657ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T00:59:50Z [1,657ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T00:59:50Z [1,665ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T00:59:50Z [1,665ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 67 |
+
2026-08-24T00:59:50Z [1,681ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T00:59:50Z [1,681ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 321, "robot_states": 1461, "entity_states": 321}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_oak, top=Walnut_Planks"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T00:59:50Z [1,682ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T00:59:50Z [1,682ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 82 |
+
2026-08-24T00:59:50Z [1,683ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T00:59:50Z [1,683ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 84 |
+
2026-08-24T00:59:50Z [1,795ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T00:59:50Z [2,188ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T00:59:53Z [5,468ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T00:59:53Z [5,573ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T00:59:56Z [7,761ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T00:59:56Z [7,762ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T00:59:56Z [7,888ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T00:59:57Z [9,414ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T00:59:57Z [9,414ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T00:59:57Z [9,415ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T00:59:57Z [9,423ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T00:59:57Z [9,431ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T00:59:57Z [9,431ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T01:00:00Z [12,154ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T01:00:00Z [12,181ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T01:00:00Z [12,292ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T01:00:01Z [13,148ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T01:00:01Z [13,148ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T01:00:01Z [13,149ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T01:00:01Z [13,149ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T01:00:01Z [13,150ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T01:00:01Z [13,150ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T01:00:01Z [13,151ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T01:00:01Z [13,248ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T01:00:01Z [13,263ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T01:00:05Z [17,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((183))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T01:00:05Z [17,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((183))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T01:00:05Z [17,499ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T01:00:06Z [17,652ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T01:00:06Z [17,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((183))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T01:00:06Z [17,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((183))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T01:00:06Z [17,713ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T01:00:06Z [17,713ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T01:00:06Z [17,713ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T01:00:06Z [17,713ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T01:00:06Z [17,713ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T01:00:06Z [17,714ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.067086 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.455110 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 321, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 321}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 321}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 321}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 321}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 321}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 321}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 321}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 321}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 321}
|
| 186 |
+
SESSION_EVENT {"event": "render_progress", "tick": 270, "total": 321}
|
| 187 |
+
SESSION_EVENT {"event": "render_progress", "tick": 300, "total": 321}
|
| 188 |
+
SESSION_EVENT {"event": "render_done", "frames": 321, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-3/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 189 |
+
2026-08-24T01:00:06Z [17,874ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/robot/Gripper/Robotiq_2F_85/left_inner_finger/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step' update topology/point without updating normal, fallback to smooth normal.
|
| 190 |
+
2026-08-24T01:00:06Z [18,528ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-3/render_manifest.json
ADDED
|
@@ -0,0 +1,378 @@
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|
| 1 |
+
{
|
| 2 |
+
"version": 1,
|
| 3 |
+
"segment_id": "seg_0",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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"datatypes": [
|
| 9 |
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"rgb"
|
| 10 |
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],
|
| 11 |
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"tick_source": "robot_link_states",
|
| 12 |
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"frame_count": 321,
|
| 13 |
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|
| 14 |
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}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-3/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,77 @@
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|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table" (
|
| 12 |
+
payload = @/home/zhiyanli/myProjects/Olympus/assets/fixtures/table_oak.usd@
|
| 13 |
+
)
|
| 14 |
+
{
|
| 15 |
+
bool physics:kinematicEnabled = 1
|
| 16 |
+
|
| 17 |
+
over "table_01"
|
| 18 |
+
{
|
| 19 |
+
over "top"
|
| 20 |
+
{
|
| 21 |
+
rel material:binding = </world/table/Looks/Walnut_Planks> (
|
| 22 |
+
bindMaterialAs = "weakerThanDescendants"
|
| 23 |
+
)
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_0"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_1"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "leg_2"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
over "leg_3"
|
| 43 |
+
{
|
| 44 |
+
bool physics:collisionEnabled = 0
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
over "GroundPlane"
|
| 50 |
+
{
|
| 51 |
+
over "CollisionPlane"
|
| 52 |
+
{
|
| 53 |
+
bool physics:collisionEnabled = 0
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
|
| 57 |
+
over "clay_plates_1"
|
| 58 |
+
{
|
| 59 |
+
bool physics:kinematicEnabled = 1
|
| 60 |
+
|
| 61 |
+
over "obj_000003_Mesh"
|
| 62 |
+
{
|
| 63 |
+
bool physics:collisionEnabled = 0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
|
| 67 |
+
over "red_block_1"
|
| 68 |
+
{
|
| 69 |
+
bool physics:kinematicEnabled = 1
|
| 70 |
+
|
| 71 |
+
over "Cube"
|
| 72 |
+
{
|
| 73 |
+
bool physics:collisionEnabled = 0
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4/render.log
ADDED
|
@@ -0,0 +1,190 @@
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_210017.log
|
| 6 |
+
2026-08-24T01:00:17Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T01:00:17Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T01:00:17Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T01:00:17Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T01:00:17Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T01:00:17Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T01:00:17Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T01:00:17Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T01:00:17Z [128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T01:00:17Z [128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T01:00:17Z [159ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T01:00:17Z [399ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T01:00:17Z [399ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T01:00:17Z [399ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92332
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T01:00:18Z [1,065ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T01:00:18Z [1,069ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T01:00:18Z [1,069ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1531.86 39.65
|
| 49 |
+
1 39.91 1547.03
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.07 15.58
|
| 53 |
+
1 57.05 2.07
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 2.43 5.09
|
| 57 |
+
1 4.93 1.73
|
| 58 |
+
2026-08-24T01:00:18Z [1,134ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.6 GB/s.
|
| 59 |
+
2026-08-24T01:00:18Z [1,134ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 57.1 us.
|
| 60 |
+
2026-08-24T01:00:18Z [1,134ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T01:00:18Z [1,644ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T01:00:18Z [1,644ms] [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)
|
| 63 |
+
2026-08-24T01:00:18Z [1,665ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T01:00:18Z [1,665ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T01:00:18Z [1,674ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T01:00:18Z [1,674ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 67 |
+
2026-08-24T01:00:18Z [1,692ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T01:00:18Z [1,692ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 321, "robot_states": 1461, "entity_states": 321}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_black, top=Black_Matte"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T01:00:18Z [1,693ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T01:00:18Z [1,693ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 82 |
+
2026-08-24T01:00:18Z [1,694ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T01:00:18Z [1,694ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 84 |
+
2026-08-24T01:00:19Z [1,805ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T01:00:19Z [2,186ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T01:00:22Z [5,497ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T01:00:22Z [5,593ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T01:00:25Z [7,809ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T01:00:25Z [7,810ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T01:00:25Z [7,928ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T01:00:26Z [9,494ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T01:00:26Z [9,494ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T01:00:26Z [9,494ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T01:00:26Z [9,503ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T01:00:26Z [9,512ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T01:00:26Z [9,512ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T01:00:29Z [12,175ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T01:00:29Z [12,202ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T01:00:29Z [12,313ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T01:00:30Z [13,239ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T01:00:30Z [13,239ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T01:00:30Z [13,241ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T01:00:30Z [13,241ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T01:00:30Z [13,242ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T01:00:30Z [13,242ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T01:00:30Z [13,243ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T01:00:30Z [13,340ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T01:00:30Z [13,355ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T01:00:33Z [16,657ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T01:00:33Z [16,657ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T01:00:34Z [17,566ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T01:00:34Z [17,715ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T01:00:34Z [17,736ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T01:00:34Z [17,736ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T01:00:35Z [17,787ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T01:00:35Z [17,787ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T01:00:35Z [17,787ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T01:00:35Z [17,788ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T01:00:35Z [17,788ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T01:00:35Z [17,788ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.066747 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.509475 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 321, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 321}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 321}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 321}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 321}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 321}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 321}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 321}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 321}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 321}
|
| 186 |
+
SESSION_EVENT {"event": "render_progress", "tick": 270, "total": 321}
|
| 187 |
+
SESSION_EVENT {"event": "render_progress", "tick": 300, "total": 321}
|
| 188 |
+
SESSION_EVENT {"event": "render_done", "frames": 321, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 189 |
+
2026-08-24T01:00:35Z [17,956ms] [Warning] [omni.hydra] Mesh '/__Prototype_16160473321122863039/Defeatured_2F_85_PAD_OPEN_finger4step' update topology/point without updating normal, fallback to smooth normal.
|
| 190 |
+
2026-08-24T01:00:35Z [18,648ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4/render_manifest.json
ADDED
|
@@ -0,0 +1,378 @@
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|
| 377 |
+
}
|
| 378 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4/render_spec.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0",
|
| 3 |
+
"segment_id": "seg_0",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"cameras": [
|
| 12 |
+
{
|
| 13 |
+
"name": "wrist",
|
| 14 |
+
"mount": "wrist",
|
| 15 |
+
"parent_frame": "robot_wrist_mount",
|
| 16 |
+
"translation": [
|
| 17 |
+
0.011,
|
| 18 |
+
-0.031,
|
| 19 |
+
-0.074
|
| 20 |
+
],
|
| 21 |
+
"rotation_wxyz": [
|
| 22 |
+
-0.5698982822341216,
|
| 23 |
+
-0.41992505006724756,
|
| 24 |
+
-0.4089270130416768,
|
| 25 |
+
-0.5758972115207966
|
| 26 |
+
],
|
| 27 |
+
"fx": 666.6666666666666,
|
| 28 |
+
"fy": 666.6666666666666,
|
| 29 |
+
"native_width": 1280,
|
| 30 |
+
"native_height": 720
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "over_shoulder_left",
|
| 34 |
+
"mount": "fixed",
|
| 35 |
+
"parent_frame": "world",
|
| 36 |
+
"translation": [
|
| 37 |
+
0.05,
|
| 38 |
+
0.57,
|
| 39 |
+
0.66
|
| 40 |
+
],
|
| 41 |
+
"rotation_wxyz": [
|
| 42 |
+
0.19502925658289574,
|
| 43 |
+
-0.3930589632670668,
|
| 44 |
+
0.805120777175544,
|
| 45 |
+
-0.39905986346961747
|
| 46 |
+
],
|
| 47 |
+
"fx": 499.99999999999994,
|
| 48 |
+
"fy": 500.0,
|
| 49 |
+
"native_width": 1280,
|
| 50 |
+
"native_height": 720
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"name": "over_shoulder_right",
|
| 54 |
+
"mount": "fixed",
|
| 55 |
+
"parent_frame": "world",
|
| 56 |
+
"translation": [
|
| 57 |
+
0.05,
|
| 58 |
+
-0.57,
|
| 59 |
+
0.66
|
| 60 |
+
],
|
| 61 |
+
"rotation_wxyz": [
|
| 62 |
+
-0.39905986346961747,
|
| 63 |
+
0.805120777175544,
|
| 64 |
+
-0.3930589632670668,
|
| 65 |
+
0.19502925658289574
|
| 66 |
+
],
|
| 67 |
+
"fx": 499.99999999999994,
|
| 68 |
+
"fy": 500.0,
|
| 69 |
+
"native_width": 1280,
|
| 70 |
+
"native_height": 720
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"out_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4",
|
| 74 |
+
"tick_source": "robot_link_states",
|
| 75 |
+
"environment": {
|
| 76 |
+
"background_hdr": "/home/zhiyanli/myProjects/Olympus/assets/backgrounds/indoors/aft_lounge.hdr",
|
| 77 |
+
"dome_intensity": null,
|
| 78 |
+
"distant_intensity": null,
|
| 79 |
+
"distant_elevation_deg": null,
|
| 80 |
+
"distant_azimuth_deg": null,
|
| 81 |
+
"table_fixture": "table_black",
|
| 82 |
+
"table_top_material": "Black_Matte"
|
| 83 |
+
}
|
| 84 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-4/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,77 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table" (
|
| 12 |
+
payload = @/home/zhiyanli/myProjects/Olympus/assets/fixtures/table_black.usd@
|
| 13 |
+
)
|
| 14 |
+
{
|
| 15 |
+
bool physics:kinematicEnabled = 1
|
| 16 |
+
|
| 17 |
+
over "table_01"
|
| 18 |
+
{
|
| 19 |
+
over "top"
|
| 20 |
+
{
|
| 21 |
+
rel material:binding = </world/table/Looks/Black_Matte> (
|
| 22 |
+
bindMaterialAs = "weakerThanDescendants"
|
| 23 |
+
)
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_0"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_1"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "leg_2"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
over "leg_3"
|
| 43 |
+
{
|
| 44 |
+
bool physics:collisionEnabled = 0
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
over "GroundPlane"
|
| 50 |
+
{
|
| 51 |
+
over "CollisionPlane"
|
| 52 |
+
{
|
| 53 |
+
bool physics:collisionEnabled = 0
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
|
| 57 |
+
over "clay_plates_1"
|
| 58 |
+
{
|
| 59 |
+
bool physics:kinematicEnabled = 1
|
| 60 |
+
|
| 61 |
+
over "obj_000003_Mesh"
|
| 62 |
+
{
|
| 63 |
+
bool physics:collisionEnabled = 0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
|
| 67 |
+
over "red_block_1"
|
| 68 |
+
{
|
| 69 |
+
bool physics:kinematicEnabled = 1
|
| 70 |
+
|
| 71 |
+
over "Cube"
|
| 72 |
+
{
|
| 73 |
+
bool physics:collisionEnabled = 0
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5/render.log
ADDED
|
@@ -0,0 +1,190 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_210046.log
|
| 6 |
+
2026-08-24T01:00:46Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T01:00:46Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T01:00:46Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T01:00:46Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T01:00:46Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T01:00:46Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T01:00:46Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T01:00:46Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T01:00:46Z [127ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T01:00:46Z [127ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T01:00:46Z [159ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T01:00:46Z [385ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T01:00:46Z [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)
|
| 19 |
+
2026-08-24T01:00:46Z [386ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92313
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T01:00:47Z [1,062ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T01:00:47Z [1,066ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T01:00:47Z [1,066ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1534.87 39.53
|
| 49 |
+
1 41.37 1553.18
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.06 16.64
|
| 53 |
+
1 18.08 2.07
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.73 5.00
|
| 57 |
+
1 4.85 2.49
|
| 58 |
+
2026-08-24T01:00:47Z [1,130ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.5 GB/s.
|
| 59 |
+
2026-08-24T01:00:47Z [1,130ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.1 us.
|
| 60 |
+
2026-08-24T01:00:47Z [1,130ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T01:00:48Z [1,626ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T01:00:48Z [1,626ms] [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)
|
| 63 |
+
2026-08-24T01:00:48Z [1,647ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T01:00:48Z [1,647ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T01:00:48Z [1,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T01:00:48Z [1,653ms] [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)
|
| 67 |
+
2026-08-24T01:00:48Z [1,669ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T01:00:48Z [1,669ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 321, "robot_states": 1461, "entity_states": 321}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_maple, top=RustedMetal"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T01:00:48Z [1,670ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T01:00:48Z [1,670ms] [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)
|
| 82 |
+
2026-08-24T01:00:48Z [1,671ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T01:00:48Z [1,671ms] [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)
|
| 84 |
+
2026-08-24T01:00:48Z [1,784ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T01:00:48Z [2,180ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T01:00:52Z [5,477ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T01:00:52Z [5,570ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T01:00:54Z [7,769ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T01:00:54Z [7,770ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T01:00:54Z [7,891ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T01:00:56Z [9,428ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T01:00:56Z [9,429ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T01:00:56Z [9,429ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T01:00:56Z [9,436ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T01:00:56Z [9,444ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T01:00:56Z [9,444ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T01:00:58Z [12,182ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T01:00:58Z [12,212ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T01:00:58Z [12,325ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T01:01:00Z [13,542ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T01:01:00Z [13,542ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T01:01:00Z [13,544ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T01:01:00Z [13,544ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T01:01:00Z [13,545ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T01:01:00Z [13,545ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T01:01:00Z [13,545ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T01:01:00Z [13,637ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T01:01:00Z [13,649ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T01:01:02Z [16,212ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T01:01:02Z [16,212ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T01:01:04Z [17,794ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T01:01:04Z [17,940ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T01:01:04Z [17,963ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T01:01:04Z [17,963ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T01:01:04Z [18,005ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T01:01:04Z [18,005ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T01:01:04Z [18,005ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T01:01:04Z [18,005ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T01:01:04Z [18,005ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T01:01:04Z [18,005ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.068922 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.714679 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 321, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 321}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 321}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 321}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 321}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 321}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 321}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 321}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 321}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 321}
|
| 186 |
+
SESSION_EVENT {"event": "render_progress", "tick": 270, "total": 321}
|
| 187 |
+
SESSION_EVENT {"event": "render_progress", "tick": 300, "total": 321}
|
| 188 |
+
SESSION_EVENT {"event": "render_done", "frames": 321, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 189 |
+
2026-08-24T01:01:04Z [18,163ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/robot/panda_link1/geometry/panda_link1' update topology/point without updating normal, fallback to smooth normal.
|
| 190 |
+
2026-08-24T01:01:05Z [18,776ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5/render_manifest.json
ADDED
|
@@ -0,0 +1,378 @@
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| 1 |
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{
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| 249 |
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1478588586160994,
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| 250 |
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1478588668622089,
|
| 251 |
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1478588751926914,
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| 252 |
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1478588818596649,
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| 253 |
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| 254 |
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1478588968600552,
|
| 255 |
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1478589051929533,
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| 256 |
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1478589135261199,
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| 257 |
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1478589201930053,
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| 258 |
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1478589268628571,
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| 259 |
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1478589351923691,
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| 260 |
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1478589418594527,
|
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1478589485262249,
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1478589551943281,
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1478589635261676,
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1478589718630718,
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1478589801961342,
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1478589885266136,
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| 267 |
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1478589951937644,
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| 268 |
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1478590035260506,
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| 269 |
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1478590101951764,
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| 270 |
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1478590168620727,
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| 271 |
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1478590251968778,
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| 272 |
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1478590335296127,
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| 273 |
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1478590418602163,
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| 274 |
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1478590485287432,
|
| 275 |
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1478590551957197,
|
| 276 |
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1478590635260560,
|
| 277 |
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1478590718600688,
|
| 278 |
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1478590801948407,
|
| 279 |
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1478590885268946,
|
| 280 |
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1478590952117100,
|
| 281 |
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1478591035269075,
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| 282 |
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1478591118593880,
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| 283 |
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1478591185265398,
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| 284 |
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1478591251942384,
|
| 285 |
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1478591318626791,
|
| 286 |
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1478591401927330,
|
| 287 |
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1478591468599299,
|
| 288 |
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1478591535285218,
|
| 289 |
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1478591618617284,
|
| 290 |
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1478591701931233,
|
| 291 |
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1478591768616812,
|
| 292 |
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1478591851935408,
|
| 293 |
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1478591935286113,
|
| 294 |
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1478592018594924,
|
| 295 |
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1478592085264429,
|
| 296 |
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1478592168593181,
|
| 297 |
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1478592235548806,
|
| 298 |
+
1478592318594041,
|
| 299 |
+
1478592385261883,
|
| 300 |
+
1478592451951108,
|
| 301 |
+
1478592535288552,
|
| 302 |
+
1478592618596492,
|
| 303 |
+
1478592685283663,
|
| 304 |
+
1478592768593236,
|
| 305 |
+
1478592835261309,
|
| 306 |
+
1478592901938756,
|
| 307 |
+
1478592985478715,
|
| 308 |
+
1478593068599394,
|
| 309 |
+
1478593137395358,
|
| 310 |
+
1478593218601686,
|
| 311 |
+
1478593301927223,
|
| 312 |
+
1478593385288854,
|
| 313 |
+
1478593468614711,
|
| 314 |
+
1478593535284577,
|
| 315 |
+
1478593618598576,
|
| 316 |
+
1478593701935330,
|
| 317 |
+
1478593768616292,
|
| 318 |
+
1478593835288932,
|
| 319 |
+
1478593918595911,
|
| 320 |
+
1478593985500530,
|
| 321 |
+
1478594068603161,
|
| 322 |
+
1478594135284975,
|
| 323 |
+
1478594201956203,
|
| 324 |
+
1478594285262921,
|
| 325 |
+
1478594351937114,
|
| 326 |
+
1478594435284984,
|
| 327 |
+
1478594518620897,
|
| 328 |
+
1478594601959052,
|
| 329 |
+
1478594685306953,
|
| 330 |
+
1478594768602665,
|
| 331 |
+
1478594835283898,
|
| 332 |
+
1478594918618379,
|
| 333 |
+
1478595002042825,
|
| 334 |
+
1478595085288111
|
| 335 |
+
],
|
| 336 |
+
"cameras": {
|
| 337 |
+
"wrist": {
|
| 338 |
+
"mount": "wrist",
|
| 339 |
+
"parent_frame": "robot_wrist_mount",
|
| 340 |
+
"intrinsics": {
|
| 341 |
+
"fx": 333.3333333333333,
|
| 342 |
+
"fy": 333.3333333333333,
|
| 343 |
+
"cx": 320.0,
|
| 344 |
+
"cy": 180.0
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"over_shoulder_left": {
|
| 348 |
+
"mount": "fixed",
|
| 349 |
+
"parent_frame": "world",
|
| 350 |
+
"intrinsics": {
|
| 351 |
+
"fx": 249.99999999999994,
|
| 352 |
+
"fy": 249.99999999999994,
|
| 353 |
+
"cx": 320.0,
|
| 354 |
+
"cy": 180.0
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
"over_shoulder_right": {
|
| 358 |
+
"mount": "fixed",
|
| 359 |
+
"parent_frame": "world",
|
| 360 |
+
"intrinsics": {
|
| 361 |
+
"fx": 249.99999999999994,
|
| 362 |
+
"fy": 249.99999999999994,
|
| 363 |
+
"cx": 320.0,
|
| 364 |
+
"cy": 180.0
|
| 365 |
+
}
|
| 366 |
+
}
|
| 367 |
+
},
|
| 368 |
+
"id_to_label": {},
|
| 369 |
+
"fixture_joint_self_check_rad": {},
|
| 370 |
+
"joint_tracking_error_max": {
|
| 371 |
+
"robot": 0.0
|
| 372 |
+
},
|
| 373 |
+
"counts": {
|
| 374 |
+
"wrist/rgb": 321,
|
| 375 |
+
"over_shoulder_left/rgb": 321,
|
| 376 |
+
"over_shoulder_right/rgb": 321
|
| 377 |
+
}
|
| 378 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5/render_spec.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0",
|
| 3 |
+
"segment_id": "seg_0",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"cameras": [
|
| 12 |
+
{
|
| 13 |
+
"name": "wrist",
|
| 14 |
+
"mount": "wrist",
|
| 15 |
+
"parent_frame": "robot_wrist_mount",
|
| 16 |
+
"translation": [
|
| 17 |
+
0.011,
|
| 18 |
+
-0.031,
|
| 19 |
+
-0.074
|
| 20 |
+
],
|
| 21 |
+
"rotation_wxyz": [
|
| 22 |
+
-0.5698982822341216,
|
| 23 |
+
-0.41992505006724756,
|
| 24 |
+
-0.4089270130416768,
|
| 25 |
+
-0.5758972115207966
|
| 26 |
+
],
|
| 27 |
+
"fx": 666.6666666666666,
|
| 28 |
+
"fy": 666.6666666666666,
|
| 29 |
+
"native_width": 1280,
|
| 30 |
+
"native_height": 720
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "over_shoulder_left",
|
| 34 |
+
"mount": "fixed",
|
| 35 |
+
"parent_frame": "world",
|
| 36 |
+
"translation": [
|
| 37 |
+
0.05,
|
| 38 |
+
0.57,
|
| 39 |
+
0.66
|
| 40 |
+
],
|
| 41 |
+
"rotation_wxyz": [
|
| 42 |
+
0.19502925658289574,
|
| 43 |
+
-0.3930589632670668,
|
| 44 |
+
0.805120777175544,
|
| 45 |
+
-0.39905986346961747
|
| 46 |
+
],
|
| 47 |
+
"fx": 499.99999999999994,
|
| 48 |
+
"fy": 500.0,
|
| 49 |
+
"native_width": 1280,
|
| 50 |
+
"native_height": 720
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"name": "over_shoulder_right",
|
| 54 |
+
"mount": "fixed",
|
| 55 |
+
"parent_frame": "world",
|
| 56 |
+
"translation": [
|
| 57 |
+
0.05,
|
| 58 |
+
-0.57,
|
| 59 |
+
0.66
|
| 60 |
+
],
|
| 61 |
+
"rotation_wxyz": [
|
| 62 |
+
-0.39905986346961747,
|
| 63 |
+
0.805120777175544,
|
| 64 |
+
-0.3930589632670668,
|
| 65 |
+
0.19502925658289574
|
| 66 |
+
],
|
| 67 |
+
"fx": 499.99999999999994,
|
| 68 |
+
"fy": 500.0,
|
| 69 |
+
"native_width": 1280,
|
| 70 |
+
"native_height": 720
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"out_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5",
|
| 74 |
+
"tick_source": "robot_link_states",
|
| 75 |
+
"environment": {
|
| 76 |
+
"background_hdr": "/home/zhiyanli/myProjects/Olympus/assets/backgrounds/indoors/carpentry_shop_02.hdr",
|
| 77 |
+
"dome_intensity": null,
|
| 78 |
+
"distant_intensity": null,
|
| 79 |
+
"distant_elevation_deg": null,
|
| 80 |
+
"distant_azimuth_deg": null,
|
| 81 |
+
"table_fixture": "table_maple",
|
| 82 |
+
"table_top_material": "RustedMetal"
|
| 83 |
+
}
|
| 84 |
+
}
|
initial_session/demos/_render-seg_0-enr-droid-wrist-left-right-head-640x360-5/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,77 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table" (
|
| 12 |
+
payload = @/home/zhiyanli/myProjects/Olympus/assets/fixtures/table_maple.usd@
|
| 13 |
+
)
|
| 14 |
+
{
|
| 15 |
+
bool physics:kinematicEnabled = 1
|
| 16 |
+
|
| 17 |
+
over "table_01"
|
| 18 |
+
{
|
| 19 |
+
over "top"
|
| 20 |
+
{
|
| 21 |
+
rel material:binding = </world/table/Looks/RustedMetal> (
|
| 22 |
+
bindMaterialAs = "weakerThanDescendants"
|
| 23 |
+
)
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_0"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_1"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "leg_2"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
over "leg_3"
|
| 43 |
+
{
|
| 44 |
+
bool physics:collisionEnabled = 0
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
over "GroundPlane"
|
| 50 |
+
{
|
| 51 |
+
over "CollisionPlane"
|
| 52 |
+
{
|
| 53 |
+
bool physics:collisionEnabled = 0
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
|
| 57 |
+
over "clay_plates_1"
|
| 58 |
+
{
|
| 59 |
+
bool physics:kinematicEnabled = 1
|
| 60 |
+
|
| 61 |
+
over "obj_000003_Mesh"
|
| 62 |
+
{
|
| 63 |
+
bool physics:collisionEnabled = 0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
|
| 67 |
+
over "red_block_1"
|
| 68 |
+
{
|
| 69 |
+
bool physics:kinematicEnabled = 1
|
| 70 |
+
|
| 71 |
+
over "Cube"
|
| 72 |
+
{
|
| 73 |
+
bool physics:collisionEnabled = 0
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1/render.log
ADDED
|
@@ -0,0 +1,185 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_202356.log
|
| 6 |
+
2026-08-24T00:23:56Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T00:23:56Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T00:23:56Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T00:23:56Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T00:23:56Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T00:23:56Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T00:23:56Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T00:23:56Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T00:23:56Z [118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T00:23:56Z [118ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T00:23:56Z [148ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T00:23:56Z [357ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T00:23:56Z [357ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T00:23:56Z [357ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 96824
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T00:23:56Z [903ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T00:23:56Z [906ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T00:23:56Z [906ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1525.88 43.04
|
| 49 |
+
1 43.18 1553.18
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.07 15.18
|
| 53 |
+
1 13.94 2.06
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.71 5.01
|
| 57 |
+
1 5.23 1.71
|
| 58 |
+
2026-08-24T00:23:57Z [963ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 43.0 GB/s.
|
| 59 |
+
2026-08-24T00:23:57Z [963ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 15.2 us.
|
| 60 |
+
2026-08-24T00:23:57Z [963ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T00:23:57Z [1,453ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T00:23:57Z [1,453ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 63 |
+
2026-08-24T00:23:57Z [1,470ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T00:23:57Z [1,470ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T00:23:57Z [1,477ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T00:23:57Z [1,477ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 67 |
+
2026-08-24T00:23:57Z [1,494ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T00:23:57Z [1,494ms] [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)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 10s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 265, "robot_states": 1141, "entity_states": 265}
|
| 78 |
+
2026-08-24T00:23:57Z [1,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 79 |
+
2026-08-24T00:23:57Z [1,495ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 80 |
+
2026-08-24T00:23:57Z [1,496ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T00:23:57Z [1,496ms] [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)
|
| 82 |
+
2026-08-24T00:23:57Z [1,599ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 83 |
+
2026-08-24T00:23:58Z [1,959ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 84 |
+
2026-08-24T00:24:01Z [5,116ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 85 |
+
2026-08-24T00:24:01Z [5,209ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 86 |
+
2026-08-24T00:24:03Z [7,265ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 87 |
+
2026-08-24T00:24:03Z [7,379ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 88 |
+
2026-08-24T00:24:04Z [8,833ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 89 |
+
2026-08-24T00:24:04Z [8,833ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T00:24:04Z [8,834ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 91 |
+
2026-08-24T00:24:04Z [8,843ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 92 |
+
|
| 93 |
+
2026-08-24T00:24:04Z [8,851ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 94 |
+
2026-08-24T00:24:04Z [8,851ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 95 |
+
2026-08-24T00:24:07Z [11,403ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 96 |
+
2026-08-24T00:24:07Z [11,427ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 97 |
+
2026-08-24T00:24:07Z [11,535ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 98 |
+
2026-08-24T00:24:09Z [12,911ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 99 |
+
2026-08-24T00:24:09Z [12,911ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 100 |
+
2026-08-24T00:24:09Z [12,913ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 101 |
+
2026-08-24T00:24:09Z [12,913ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 102 |
+
2026-08-24T00:24:09Z [12,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 103 |
+
2026-08-24T00:24:09Z [12,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 104 |
+
2026-08-24T00:24:09Z [12,915ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 105 |
+
2026-08-24T00:24:09Z [13,000ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 106 |
+
2026-08-24T00:24:09Z [13,013ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 107 |
+
2026-08-24T00:24:10Z [14,799ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
|
| 108 |
+
2026-08-24T00:24:10Z [14,799ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
|
| 109 |
+
2026-08-24T00:24:13Z [16,970ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 110 |
+
2026-08-24T00:24:13Z [17,112ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 111 |
+
2026-08-24T00:24:13Z [17,126ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T00:24:13Z [17,126ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
|
| 113 |
+
2026-08-24T00:24:13Z [17,159ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 114 |
+
2026-08-24T00:24:13Z [17,159ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 115 |
+
2026-08-24T00:24:13Z [17,159ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 116 |
+
2026-08-24T00:24:13Z [17,159ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 117 |
+
2026-08-24T00:24:13Z [17,160ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 118 |
+
2026-08-24T00:24:13Z [17,160ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 119 |
+
[INFO]: Base environment:
|
| 120 |
+
Environment device : cpu
|
| 121 |
+
Environment seed : None
|
| 122 |
+
Physics step-size : 0.008333333333333333
|
| 123 |
+
Rendering step-size : 0.008333333333333333
|
| 124 |
+
Environment step-size : 0.03333333333333333
|
| 125 |
+
[INFO]: Time taken for scene creation : 0.065619 seconds
|
| 126 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 127 |
+
Number of environments: 1
|
| 128 |
+
Environment spacing : 10.0
|
| 129 |
+
Source prim name : /World/envs/env_0
|
| 130 |
+
Global prim paths : []
|
| 131 |
+
Replicate physics : True
|
| 132 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 133 |
+
[INFO]: Time taken for simulation start : 5.656739 seconds
|
| 134 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 135 |
+
+---------------------------------+
|
| 136 |
+
| Active Event Terms in Mode: 'reset' |
|
| 137 |
+
+------------+--------------------+
|
| 138 |
+
| Index | Name |
|
| 139 |
+
+------------+--------------------+
|
| 140 |
+
| 0 | reset_all |
|
| 141 |
+
+------------+--------------------+
|
| 142 |
+
|
| 143 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 144 |
+
+---------------------+
|
| 145 |
+
| Active Recorder Terms |
|
| 146 |
+
+-----------+---------+
|
| 147 |
+
| Index | Name |
|
| 148 |
+
+-----------+---------+
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
|
| 151 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 152 |
+
+-----------------------------------+
|
| 153 |
+
| Active Action Terms (shape: 9) |
|
| 154 |
+
+--------+-------------+------------+
|
| 155 |
+
| Index | Name | Dimension |
|
| 156 |
+
+--------+-------------+------------+
|
| 157 |
+
| 0 | arm_action | 7 |
|
| 158 |
+
| 1 | jaw | 2 |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
|
| 161 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 162 |
+
+------------------------------------------+
|
| 163 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 164 |
+
+-----------+------------------+-----------+
|
| 165 |
+
| Index | Name | Shape |
|
| 166 |
+
+-----------+------------------+-----------+
|
| 167 |
+
| 0 | joint_pos | (13,) |
|
| 168 |
+
+-----------+------------------+-----------+
|
| 169 |
+
|
| 170 |
+
Setting seed: 0
|
| 171 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 172 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 173 |
+
SESSION_EVENT {"event": "render_started", "ticks": 265, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 174 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 265}
|
| 175 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 265}
|
| 176 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 265}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 265}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 265}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 265}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 265}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 265}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 265}
|
| 183 |
+
SESSION_EVENT {"event": "render_done", "frames": 265, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 184 |
+
2026-08-24T00:24:13Z [17,279ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/robot/panda_link2/geometry/panda_link2' update topology/point without updating normal, fallback to smooth normal.
|
| 185 |
+
2026-08-24T00:24:13Z [17,730ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1/render_manifest.json
ADDED
|
@@ -0,0 +1,322 @@
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|
| 1 |
+
{
|
| 2 |
+
"version": 1,
|
| 3 |
+
"segment_id": "seg_1",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
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"embodiment": "franka-robotiq-2f85",
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| 6 |
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| 7 |
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|
| 8 |
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"datatypes": [
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| 9 |
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"rgb"
|
| 10 |
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],
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| 11 |
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1478665277866287,
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1478665715280676,
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1478665787806473,
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1478665855765628,
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1478665933375425,
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1478666007515991,
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| 218 |
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1478666076262841,
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1478666145211565,
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| 220 |
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1478666215787298,
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1478666285215984,
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1478666355335239,
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| 223 |
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1478666426861852,
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1478666497982504,
|
| 225 |
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1478666576148158,
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1478666649646578,
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1478666730031050,
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1478666802660974,
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| 229 |
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1478666872290953,
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| 230 |
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1478666939808674,
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| 231 |
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1478667010408422,
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| 232 |
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1478667083288582,
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| 233 |
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1478667152214852,
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| 234 |
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1478667222116721,
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| 235 |
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1478667291809074,
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1478667366187468,
|
| 237 |
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1478667439677326,
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| 238 |
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1478667511148626,
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| 239 |
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1478667588262968,
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| 240 |
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1478667661214235,
|
| 241 |
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1478667734501287,
|
| 242 |
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1478667807899597,
|
| 243 |
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1478667878336801,
|
| 244 |
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1478667957297601,
|
| 245 |
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1478668031941075,
|
| 246 |
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1478668111561297,
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| 247 |
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1478668181171877,
|
| 248 |
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1478668251313146,
|
| 249 |
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1478668340221495,
|
| 250 |
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1478668412400070,
|
| 251 |
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1478668485296114,
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| 252 |
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1478668559960179,
|
| 253 |
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1478668636475369,
|
| 254 |
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1478668718625338,
|
| 255 |
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1478668785327932,
|
| 256 |
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1478668868629415,
|
| 257 |
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1478668951963046,
|
| 258 |
+
1478669018649816,
|
| 259 |
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1478669101987753,
|
| 260 |
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1478669185315635,
|
| 261 |
+
1478669268623176,
|
| 262 |
+
1478669335305070,
|
| 263 |
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1478669401983147,
|
| 264 |
+
1478669485296798,
|
| 265 |
+
1478669551981305,
|
| 266 |
+
1478669635303618,
|
| 267 |
+
1478669718650479,
|
| 268 |
+
1478669801985542,
|
| 269 |
+
1478669885362698,
|
| 270 |
+
1478669968631522,
|
| 271 |
+
1478670051984642,
|
| 272 |
+
1478670135294136,
|
| 273 |
+
1478670201983881,
|
| 274 |
+
1478670285293486,
|
| 275 |
+
1478670351968008,
|
| 276 |
+
1478670418661118,
|
| 277 |
+
1478670501964784,
|
| 278 |
+
1478670570404703
|
| 279 |
+
],
|
| 280 |
+
"cameras": {
|
| 281 |
+
"wrist": {
|
| 282 |
+
"mount": "wrist",
|
| 283 |
+
"parent_frame": "robot_wrist_mount",
|
| 284 |
+
"intrinsics": {
|
| 285 |
+
"fx": 333.3333333333333,
|
| 286 |
+
"fy": 333.3333333333333,
|
| 287 |
+
"cx": 320.0,
|
| 288 |
+
"cy": 180.0
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"over_shoulder_left": {
|
| 292 |
+
"mount": "fixed",
|
| 293 |
+
"parent_frame": "world",
|
| 294 |
+
"intrinsics": {
|
| 295 |
+
"fx": 249.99999999999994,
|
| 296 |
+
"fy": 249.99999999999994,
|
| 297 |
+
"cx": 320.0,
|
| 298 |
+
"cy": 180.0
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"over_shoulder_right": {
|
| 302 |
+
"mount": "fixed",
|
| 303 |
+
"parent_frame": "world",
|
| 304 |
+
"intrinsics": {
|
| 305 |
+
"fx": 249.99999999999994,
|
| 306 |
+
"fy": 249.99999999999994,
|
| 307 |
+
"cx": 320.0,
|
| 308 |
+
"cy": 180.0
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"id_to_label": {},
|
| 313 |
+
"fixture_joint_self_check_rad": {},
|
| 314 |
+
"joint_tracking_error_max": {
|
| 315 |
+
"robot": 0.0
|
| 316 |
+
},
|
| 317 |
+
"counts": {
|
| 318 |
+
"wrist/rgb": 265,
|
| 319 |
+
"over_shoulder_left/rgb": 265,
|
| 320 |
+
"over_shoulder_right/rgb": 265
|
| 321 |
+
}
|
| 322 |
+
}
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1/render_spec.json
ADDED
|
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0",
|
| 3 |
+
"segment_id": "seg_1",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"cameras": [
|
| 12 |
+
{
|
| 13 |
+
"name": "wrist",
|
| 14 |
+
"mount": "wrist",
|
| 15 |
+
"parent_frame": "robot_wrist_mount",
|
| 16 |
+
"translation": [
|
| 17 |
+
0.011,
|
| 18 |
+
-0.031,
|
| 19 |
+
-0.074
|
| 20 |
+
],
|
| 21 |
+
"rotation_wxyz": [
|
| 22 |
+
-0.5698982822341216,
|
| 23 |
+
-0.41992505006724756,
|
| 24 |
+
-0.4089270130416768,
|
| 25 |
+
-0.5758972115207966
|
| 26 |
+
],
|
| 27 |
+
"fx": 666.6666666666666,
|
| 28 |
+
"fy": 666.6666666666666,
|
| 29 |
+
"native_width": 1280,
|
| 30 |
+
"native_height": 720
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "over_shoulder_left",
|
| 34 |
+
"mount": "fixed",
|
| 35 |
+
"parent_frame": "world",
|
| 36 |
+
"translation": [
|
| 37 |
+
0.05,
|
| 38 |
+
0.57,
|
| 39 |
+
0.66
|
| 40 |
+
],
|
| 41 |
+
"rotation_wxyz": [
|
| 42 |
+
0.19502925658289574,
|
| 43 |
+
-0.3930589632670668,
|
| 44 |
+
0.805120777175544,
|
| 45 |
+
-0.39905986346961747
|
| 46 |
+
],
|
| 47 |
+
"fx": 499.99999999999994,
|
| 48 |
+
"fy": 500.0,
|
| 49 |
+
"native_width": 1280,
|
| 50 |
+
"native_height": 720
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"name": "over_shoulder_right",
|
| 54 |
+
"mount": "fixed",
|
| 55 |
+
"parent_frame": "world",
|
| 56 |
+
"translation": [
|
| 57 |
+
0.05,
|
| 58 |
+
-0.57,
|
| 59 |
+
0.66
|
| 60 |
+
],
|
| 61 |
+
"rotation_wxyz": [
|
| 62 |
+
-0.39905986346961747,
|
| 63 |
+
0.805120777175544,
|
| 64 |
+
-0.3930589632670668,
|
| 65 |
+
0.19502925658289574
|
| 66 |
+
],
|
| 67 |
+
"fx": 499.99999999999994,
|
| 68 |
+
"fy": 500.0,
|
| 69 |
+
"native_width": 1280,
|
| 70 |
+
"native_height": 720
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"out_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1",
|
| 74 |
+
"tick_source": "robot_link_states",
|
| 75 |
+
"environment": null
|
| 76 |
+
}
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-1/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table"
|
| 12 |
+
{
|
| 13 |
+
bool physics:kinematicEnabled = 1
|
| 14 |
+
|
| 15 |
+
over "table_01"
|
| 16 |
+
{
|
| 17 |
+
over "leg_0"
|
| 18 |
+
{
|
| 19 |
+
bool physics:collisionEnabled = 0
|
| 20 |
+
}
|
| 21 |
+
|
| 22 |
+
over "leg_1"
|
| 23 |
+
{
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_2"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_3"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "top"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
|
| 44 |
+
over "GroundPlane"
|
| 45 |
+
{
|
| 46 |
+
over "CollisionPlane"
|
| 47 |
+
{
|
| 48 |
+
bool physics:collisionEnabled = 0
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
|
| 52 |
+
over "clay_plates_1"
|
| 53 |
+
{
|
| 54 |
+
bool physics:kinematicEnabled = 1
|
| 55 |
+
|
| 56 |
+
over "obj_000003_Mesh"
|
| 57 |
+
{
|
| 58 |
+
bool physics:collisionEnabled = 0
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
|
| 62 |
+
over "red_block_1"
|
| 63 |
+
{
|
| 64 |
+
bool physics:kinematicEnabled = 1
|
| 65 |
+
|
| 66 |
+
over "Cube"
|
| 67 |
+
{
|
| 68 |
+
bool physics:collisionEnabled = 0
|
| 69 |
+
}
|
| 70 |
+
}
|
| 71 |
+
}
|
| 72 |
+
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2/render.log
ADDED
|
@@ -0,0 +1,188 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_210115.log
|
| 6 |
+
2026-08-24T01:01:15Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T01:01:15Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T01:01:15Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T01:01:15Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T01:01:15Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T01:01:15Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T01:01:15Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T01:01:15Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T01:01:15Z [125ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T01:01:15Z [125ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T01:01:15Z [156ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T01:01:15Z [377ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T01:01:15Z [377ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T01:01:15Z [378ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92335
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T01:01:16Z [1,057ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T01:01:16Z [1,061ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T01:01:16Z [1,061ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1568.78 39.46
|
| 49 |
+
1 41.43 1553.23
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.06 13.51
|
| 53 |
+
1 16.77 2.07
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.69 4.99
|
| 57 |
+
1 4.85 2.39
|
| 58 |
+
2026-08-24T01:01:16Z [1,123ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.5 GB/s.
|
| 59 |
+
2026-08-24T01:01:16Z [1,123ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 16.8 us.
|
| 60 |
+
2026-08-24T01:01:16Z [1,123ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T01:01:17Z [1,652ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T01:01:17Z [1,652ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 63 |
+
2026-08-24T01:01:17Z [1,673ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T01:01:17Z [1,673ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T01:01:17Z [1,681ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T01:01:17Z [1,681ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 67 |
+
2026-08-24T01:01:17Z [1,699ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T01:01:17Z [1,699ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 265, "robot_states": 1141, "entity_states": 265}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_maple, top=Bamboo"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T01:01:17Z [1,700ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T01:01:17Z [1,700ms] [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)
|
| 82 |
+
2026-08-24T01:01:17Z [1,700ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T01:01:17Z [1,700ms] [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)
|
| 84 |
+
2026-08-24T01:01:17Z [1,807ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T01:01:17Z [2,194ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T01:01:21Z [5,566ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T01:01:21Z [5,657ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T01:01:23Z [7,865ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T01:01:23Z [7,866ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T01:01:23Z [7,989ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T01:01:25Z [9,554ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T01:01:25Z [9,554ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T01:01:25Z [9,554ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T01:01:25Z [9,563ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T01:01:25Z [9,572ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T01:01:25Z [9,572ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T01:01:27Z [12,323ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T01:01:27Z [12,349ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T01:01:28Z [12,471ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T01:01:28Z [13,390ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T01:01:28Z [13,390ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T01:01:29Z [13,392ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T01:01:29Z [13,392ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T01:01:29Z [13,393ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T01:01:29Z [13,393ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T01:01:29Z [13,393ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T01:01:29Z [13,486ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T01:01:29Z [13,500ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T01:01:31Z [16,165ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T01:01:31Z [16,165ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T01:01:33Z [17,844ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T01:01:33Z [17,996ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T01:01:33Z [18,014ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T01:01:33Z [18,014ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T01:01:33Z [18,056ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T01:01:33Z [18,056ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T01:01:33Z [18,056ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T01:01:33Z [18,057ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T01:01:33Z [18,057ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T01:01:33Z [18,057ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.073448 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.622997 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 265, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 265}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 265}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 265}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 265}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 265}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 265}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 265}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 265}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 265}
|
| 186 |
+
SESSION_EVENT {"event": "render_done", "frames": 265, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 187 |
+
2026-08-24T01:01:33Z [18,216ms] [Warning] [omni.hydra] Mesh '/__Prototype_16160473321122863039/Defeatured_2F_85_PAD_OPEN_finger4step' update topology/point without updating normal, fallback to smooth normal.
|
| 188 |
+
2026-08-24T01:01:34Z [18,885ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2/render_manifest.json
ADDED
|
@@ -0,0 +1,322 @@
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|
| 1 |
+
{
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| 2 |
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"version": 1,
|
| 3 |
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"segment_id": "seg_1",
|
| 4 |
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| 5 |
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|
| 8 |
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| 9 |
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|
| 10 |
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1478667010408422,
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| 241 |
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|
| 242 |
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| 243 |
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1478667878336801,
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1478667957297601,
|
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1478668031941075,
|
| 246 |
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1478668111561297,
|
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1478668181171877,
|
| 248 |
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1478668251313146,
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| 249 |
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1478668340221495,
|
| 250 |
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1478668412400070,
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1478668485296114,
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1478668559960179,
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1478668636475369,
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| 254 |
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1478668718625338,
|
| 255 |
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1478668785327932,
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1478668868629415,
|
| 257 |
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1478668951963046,
|
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1478669018649816,
|
| 259 |
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1478669101987753,
|
| 260 |
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1478669185315635,
|
| 261 |
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1478669268623176,
|
| 262 |
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1478669335305070,
|
| 263 |
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1478669401983147,
|
| 264 |
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1478669485296798,
|
| 265 |
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1478669551981305,
|
| 266 |
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1478669635303618,
|
| 267 |
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1478669718650479,
|
| 268 |
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1478669801985542,
|
| 269 |
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1478669885362698,
|
| 270 |
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1478669968631522,
|
| 271 |
+
1478670051984642,
|
| 272 |
+
1478670135294136,
|
| 273 |
+
1478670201983881,
|
| 274 |
+
1478670285293486,
|
| 275 |
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1478670351968008,
|
| 276 |
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1478670418661118,
|
| 277 |
+
1478670501964784,
|
| 278 |
+
1478670570404703
|
| 279 |
+
],
|
| 280 |
+
"cameras": {
|
| 281 |
+
"wrist": {
|
| 282 |
+
"mount": "wrist",
|
| 283 |
+
"parent_frame": "robot_wrist_mount",
|
| 284 |
+
"intrinsics": {
|
| 285 |
+
"fx": 333.3333333333333,
|
| 286 |
+
"fy": 333.3333333333333,
|
| 287 |
+
"cx": 320.0,
|
| 288 |
+
"cy": 180.0
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"over_shoulder_left": {
|
| 292 |
+
"mount": "fixed",
|
| 293 |
+
"parent_frame": "world",
|
| 294 |
+
"intrinsics": {
|
| 295 |
+
"fx": 249.99999999999994,
|
| 296 |
+
"fy": 249.99999999999994,
|
| 297 |
+
"cx": 320.0,
|
| 298 |
+
"cy": 180.0
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"over_shoulder_right": {
|
| 302 |
+
"mount": "fixed",
|
| 303 |
+
"parent_frame": "world",
|
| 304 |
+
"intrinsics": {
|
| 305 |
+
"fx": 249.99999999999994,
|
| 306 |
+
"fy": 249.99999999999994,
|
| 307 |
+
"cx": 320.0,
|
| 308 |
+
"cy": 180.0
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"id_to_label": {},
|
| 313 |
+
"fixture_joint_self_check_rad": {},
|
| 314 |
+
"joint_tracking_error_max": {
|
| 315 |
+
"robot": 0.0
|
| 316 |
+
},
|
| 317 |
+
"counts": {
|
| 318 |
+
"wrist/rgb": 265,
|
| 319 |
+
"over_shoulder_left/rgb": 265,
|
| 320 |
+
"over_shoulder_right/rgb": 265
|
| 321 |
+
}
|
| 322 |
+
}
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2/render_spec.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0",
|
| 3 |
+
"segment_id": "seg_1",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"cameras": [
|
| 12 |
+
{
|
| 13 |
+
"name": "wrist",
|
| 14 |
+
"mount": "wrist",
|
| 15 |
+
"parent_frame": "robot_wrist_mount",
|
| 16 |
+
"translation": [
|
| 17 |
+
0.011,
|
| 18 |
+
-0.031,
|
| 19 |
+
-0.074
|
| 20 |
+
],
|
| 21 |
+
"rotation_wxyz": [
|
| 22 |
+
-0.5698982822341216,
|
| 23 |
+
-0.41992505006724756,
|
| 24 |
+
-0.4089270130416768,
|
| 25 |
+
-0.5758972115207966
|
| 26 |
+
],
|
| 27 |
+
"fx": 666.6666666666666,
|
| 28 |
+
"fy": 666.6666666666666,
|
| 29 |
+
"native_width": 1280,
|
| 30 |
+
"native_height": 720
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "over_shoulder_left",
|
| 34 |
+
"mount": "fixed",
|
| 35 |
+
"parent_frame": "world",
|
| 36 |
+
"translation": [
|
| 37 |
+
0.05,
|
| 38 |
+
0.57,
|
| 39 |
+
0.66
|
| 40 |
+
],
|
| 41 |
+
"rotation_wxyz": [
|
| 42 |
+
0.19502925658289574,
|
| 43 |
+
-0.3930589632670668,
|
| 44 |
+
0.805120777175544,
|
| 45 |
+
-0.39905986346961747
|
| 46 |
+
],
|
| 47 |
+
"fx": 499.99999999999994,
|
| 48 |
+
"fy": 500.0,
|
| 49 |
+
"native_width": 1280,
|
| 50 |
+
"native_height": 720
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"name": "over_shoulder_right",
|
| 54 |
+
"mount": "fixed",
|
| 55 |
+
"parent_frame": "world",
|
| 56 |
+
"translation": [
|
| 57 |
+
0.05,
|
| 58 |
+
-0.57,
|
| 59 |
+
0.66
|
| 60 |
+
],
|
| 61 |
+
"rotation_wxyz": [
|
| 62 |
+
-0.39905986346961747,
|
| 63 |
+
0.805120777175544,
|
| 64 |
+
-0.3930589632670668,
|
| 65 |
+
0.19502925658289574
|
| 66 |
+
],
|
| 67 |
+
"fx": 499.99999999999994,
|
| 68 |
+
"fy": 500.0,
|
| 69 |
+
"native_width": 1280,
|
| 70 |
+
"native_height": 720
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"out_dir": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2",
|
| 74 |
+
"tick_source": "robot_link_states",
|
| 75 |
+
"environment": {
|
| 76 |
+
"background_hdr": "/home/zhiyanli/myProjects/Olympus/assets/backgrounds/default/aerodynamics_workshop.hdr",
|
| 77 |
+
"dome_intensity": null,
|
| 78 |
+
"distant_intensity": null,
|
| 79 |
+
"distant_elevation_deg": null,
|
| 80 |
+
"distant_azimuth_deg": null,
|
| 81 |
+
"table_fixture": "table_maple",
|
| 82 |
+
"table_top_material": "Bamboo"
|
| 83 |
+
}
|
| 84 |
+
}
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-2/scene_overlay/cube-back-short-term_enrich.usda
ADDED
|
@@ -0,0 +1,77 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table" (
|
| 12 |
+
payload = @/home/zhiyanli/myProjects/Olympus/assets/fixtures/table_maple.usd@
|
| 13 |
+
)
|
| 14 |
+
{
|
| 15 |
+
bool physics:kinematicEnabled = 1
|
| 16 |
+
|
| 17 |
+
over "table_01"
|
| 18 |
+
{
|
| 19 |
+
over "top"
|
| 20 |
+
{
|
| 21 |
+
rel material:binding = </world/table/Looks/Bamboo> (
|
| 22 |
+
bindMaterialAs = "weakerThanDescendants"
|
| 23 |
+
)
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_0"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_1"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "leg_2"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
over "leg_3"
|
| 43 |
+
{
|
| 44 |
+
bool physics:collisionEnabled = 0
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
over "GroundPlane"
|
| 50 |
+
{
|
| 51 |
+
over "CollisionPlane"
|
| 52 |
+
{
|
| 53 |
+
bool physics:collisionEnabled = 0
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
|
| 57 |
+
over "clay_plates_1"
|
| 58 |
+
{
|
| 59 |
+
bool physics:kinematicEnabled = 1
|
| 60 |
+
|
| 61 |
+
over "obj_000003_Mesh"
|
| 62 |
+
{
|
| 63 |
+
bool physics:collisionEnabled = 0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
|
| 67 |
+
over "red_block_1"
|
| 68 |
+
{
|
| 69 |
+
bool physics:kinematicEnabled = 1
|
| 70 |
+
|
| 71 |
+
over "Cube"
|
| 72 |
+
{
|
| 73 |
+
bool physics:collisionEnabled = 0
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-3/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-3/render.log
ADDED
|
@@ -0,0 +1,188 @@
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|
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|
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|
|
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|
|
|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_210143.log
|
| 6 |
+
2026-08-24T01:01:43Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T01:01:43Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T01:01:43Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T01:01:43Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T01:01:43Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T01:01:43Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T01:01:43Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T01:01:43Z [3ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T01:01:43Z [127ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T01:01:43Z [127ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T01:01:43Z [159ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T01:01:43Z [386ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T01:01:43Z [386ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T01:01:43Z [386ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92289
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T01:01:44Z [1,061ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T01:01:44Z [1,065ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T01:01:44Z [1,065ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1537.89 39.55
|
| 49 |
+
1 41.33 1547.03
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.06 15.08
|
| 53 |
+
1 14.04 2.06
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.76 5.23
|
| 57 |
+
1 5.20 1.81
|
| 58 |
+
2026-08-24T01:01:44Z [1,128ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.5 GB/s.
|
| 59 |
+
2026-08-24T01:01:44Z [1,128ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 15.1 us.
|
| 60 |
+
2026-08-24T01:01:44Z [1,128ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T01:01:44Z [1,627ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T01:01:44Z [1,627ms] [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)
|
| 63 |
+
2026-08-24T01:01:44Z [1,650ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T01:01:44Z [1,650ms] [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)
|
| 65 |
+
2026-08-24T01:01:44Z [1,657ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T01:01:44Z [1,657ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 67 |
+
2026-08-24T01:01:44Z [1,674ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T01:01:44Z [1,674ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 265, "robot_states": 1141, "entity_states": 265}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_oak, top=Walnut_Planks"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T01:01:44Z [1,675ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T01:01:44Z [1,675ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 82 |
+
2026-08-24T01:01:44Z [1,676ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T01:01:44Z [1,676ms] [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)
|
| 84 |
+
2026-08-24T01:01:45Z [1,788ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T01:01:45Z [2,186ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T01:01:48Z [5,430ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T01:01:48Z [5,533ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T01:01:50Z [7,699ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T01:01:50Z [7,700ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T01:01:51Z [7,817ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T01:01:52Z [9,358ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T01:01:52Z [9,358ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T01:01:52Z [9,358ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T01:01:52Z [9,367ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T01:01:52Z [9,376ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T01:01:52Z [9,376ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T01:01:55Z [12,098ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T01:01:55Z [12,127ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T01:01:55Z [12,236ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T01:01:56Z [13,191ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T01:01:56Z [13,191ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T01:01:56Z [13,193ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T01:01:56Z [13,193ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T01:01:56Z [13,194ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T01:01:56Z [13,194ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T01:01:56Z [13,194ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T01:01:56Z [13,285ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T01:01:56Z [13,296ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T01:02:00Z [16,933ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((189))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T01:02:00Z [16,933ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((189))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T01:02:00Z [17,453ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T01:02:00Z [17,606ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T01:02:00Z [17,631ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((189))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T01:02:00Z [17,631ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((189))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T01:02:00Z [17,672ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T01:02:00Z [17,672ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T01:02:00Z [17,672ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T01:02:00Z [17,672ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T01:02:00Z [17,673ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T01:02:00Z [17,673ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.066855 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.468998 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 265, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 265}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 265}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 265}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 265}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 265}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 265}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 265}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 265}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 265}
|
| 186 |
+
SESSION_EVENT {"event": "render_done", "frames": 265, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-3/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 187 |
+
2026-08-24T01:02:01Z [17,832ms] [Warning] [omni.hydra] Mesh '/__Prototype_16160473321122863039/Defeatured_2F_85_PAD_OPEN_finger4step' update topology/point without updating normal, fallback to smooth normal.
|
| 188 |
+
2026-08-24T01:02:01Z [18,536ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-3/render_manifest.json
ADDED
|
@@ -0,0 +1,322 @@
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"version": 1,
|
| 3 |
+
"segment_id": "seg_1",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"tick_source": "robot_link_states",
|
| 12 |
+
"frame_count": 265,
|
| 13 |
+
"tick_times_ns": [
|
| 14 |
+
1478650063419689,
|
| 15 |
+
1478650146756312,
|
| 16 |
+
1478650230058933,
|
| 17 |
+
1478650296761816,
|
| 18 |
+
1478650380031247,
|
| 19 |
+
1478650446744896,
|
| 20 |
+
1478650533867625,
|
| 21 |
+
1478650616658686,
|
| 22 |
+
1478650686410227,
|
| 23 |
+
1478650757054940,
|
| 24 |
+
1478650836813639,
|
| 25 |
+
1478650910070143,
|
| 26 |
+
1478650983055079,
|
| 27 |
+
1478651063412829,
|
| 28 |
+
1478651146737464,
|
| 29 |
+
1478651230030020,
|
| 30 |
+
1478651296733053,
|
| 31 |
+
1478651363403797,
|
| 32 |
+
1478651446734140,
|
| 33 |
+
1478651530030352,
|
| 34 |
+
1478651596852354,
|
| 35 |
+
1478651680129246,
|
| 36 |
+
1478651763429044,
|
| 37 |
+
1478651846732066,
|
| 38 |
+
1478651913402119,
|
| 39 |
+
1478651996735507,
|
| 40 |
+
1478652063425370,
|
| 41 |
+
1478652130096715,
|
| 42 |
+
1478652213398756,
|
| 43 |
+
1478652296753936,
|
| 44 |
+
1478652363422528,
|
| 45 |
+
1478652446743537,
|
| 46 |
+
1478652530042122,
|
| 47 |
+
1478652596731545,
|
| 48 |
+
1478652663425143,
|
| 49 |
+
1478652746733023,
|
| 50 |
+
1478652813400492,
|
| 51 |
+
1478652896736585,
|
| 52 |
+
1478652963440679,
|
| 53 |
+
1478653046738484,
|
| 54 |
+
1478653114612198,
|
| 55 |
+
1478653196758891,
|
| 56 |
+
1478653280094071,
|
| 57 |
+
1478653363409132,
|
| 58 |
+
1478653446767848,
|
| 59 |
+
1478653530034205,
|
| 60 |
+
1478653596768185,
|
| 61 |
+
1478653680041512,
|
| 62 |
+
1478653746756563,
|
| 63 |
+
1478653830068319,
|
| 64 |
+
1478653896757421,
|
| 65 |
+
1478653963428386,
|
| 66 |
+
1478654046745099,
|
| 67 |
+
1478654130101973,
|
| 68 |
+
1478654213405967,
|
| 69 |
+
1478654296761398,
|
| 70 |
+
1478654380055757,
|
| 71 |
+
1478654446754033,
|
| 72 |
+
1478654530027571,
|
| 73 |
+
1478654596741711,
|
| 74 |
+
1478654663409341,
|
| 75 |
+
1478654746741438,
|
| 76 |
+
1478654813417450,
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|
| 1 |
+
#usda 1.0
|
| 2 |
+
(
|
| 3 |
+
defaultPrim = "world"
|
| 4 |
+
subLayers = [
|
| 5 |
+
@/home/zhiyanli/myProjects/Olympus/assets/scenes/cube-back-short-term.usda@
|
| 6 |
+
]
|
| 7 |
+
)
|
| 8 |
+
|
| 9 |
+
over "world"
|
| 10 |
+
{
|
| 11 |
+
over "table" (
|
| 12 |
+
payload = @/home/zhiyanli/myProjects/Olympus/assets/fixtures/table_oak.usd@
|
| 13 |
+
)
|
| 14 |
+
{
|
| 15 |
+
bool physics:kinematicEnabled = 1
|
| 16 |
+
|
| 17 |
+
over "table_01"
|
| 18 |
+
{
|
| 19 |
+
over "top"
|
| 20 |
+
{
|
| 21 |
+
rel material:binding = </world/table/Looks/Walnut_Planks> (
|
| 22 |
+
bindMaterialAs = "weakerThanDescendants"
|
| 23 |
+
)
|
| 24 |
+
bool physics:collisionEnabled = 0
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
over "leg_0"
|
| 28 |
+
{
|
| 29 |
+
bool physics:collisionEnabled = 0
|
| 30 |
+
}
|
| 31 |
+
|
| 32 |
+
over "leg_1"
|
| 33 |
+
{
|
| 34 |
+
bool physics:collisionEnabled = 0
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
over "leg_2"
|
| 38 |
+
{
|
| 39 |
+
bool physics:collisionEnabled = 0
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
over "leg_3"
|
| 43 |
+
{
|
| 44 |
+
bool physics:collisionEnabled = 0
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
over "GroundPlane"
|
| 50 |
+
{
|
| 51 |
+
over "CollisionPlane"
|
| 52 |
+
{
|
| 53 |
+
bool physics:collisionEnabled = 0
|
| 54 |
+
}
|
| 55 |
+
}
|
| 56 |
+
|
| 57 |
+
over "clay_plates_1"
|
| 58 |
+
{
|
| 59 |
+
bool physics:kinematicEnabled = 1
|
| 60 |
+
|
| 61 |
+
over "obj_000003_Mesh"
|
| 62 |
+
{
|
| 63 |
+
bool physics:collisionEnabled = 0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
|
| 67 |
+
over "red_block_1"
|
| 68 |
+
{
|
| 69 |
+
bool physics:kinematicEnabled = 1
|
| 70 |
+
|
| 71 |
+
over "Cube"
|
| 72 |
+
{
|
| 73 |
+
bool physics:collisionEnabled = 0
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-4/frames.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-4/render.log
ADDED
|
@@ -0,0 +1,188 @@
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
warning: `VIRTUAL_ENV=.venv` does not match the project environment path `environments/isaac50/.venv` and will be ignored; use `--active` to target the active environment instead
|
| 2 |
+
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
|
| 3 |
+
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
|
| 4 |
+
Loading user config located at: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
|
| 5 |
+
[Info] [carb] Logging to file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20260823_210210.log
|
| 6 |
+
2026-08-24T01:02:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/bcdcbcfe-291c-45bf-8bf0dfa8-0114e119.dmp'
|
| 7 |
+
2026-08-24T01:02:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/ea994185-6669-4e83-33356783-78208dbf.dmp'
|
| 8 |
+
2026-08-24T01:02:10Z [1ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/beb693e2-9ab6-411f-5ef7aca3-26fc146f.dmp'
|
| 9 |
+
2026-08-24T01:02:10Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/b4cf7ab7-c963-44e7-349dd0bb-16d6eeb2.dmp'
|
| 10 |
+
2026-08-24T01:02:10Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/3d71103a-fa28-4dae-0765c29f-3d7f52eb.dmp'
|
| 11 |
+
2026-08-24T01:02:10Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/117fa9cb-ce7a-4f4b-59e65085-5e94c875.dmp'
|
| 12 |
+
2026-08-24T01:02:10Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6c39d28d-eac4-43f3-e5e787b8-1cf6fac3.dmp'
|
| 13 |
+
2026-08-24T01:02:10Z [2ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c5a67d2c-fe93-4a66-3c1f729f-6ef61d88.dmp'
|
| 14 |
+
2026-08-24T01:02:10Z [124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 15 |
+
2026-08-24T01:02:10Z [124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 16 |
+
2026-08-24T01:02:10Z [155ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 17 |
+
2026-08-24T01:02:10Z [383ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 18 |
+
2026-08-24T01:02:10Z [383ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 19 |
+
2026-08-24T01:02:10Z [383ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
|
| 20 |
+
|
| 21 |
+
|---------------------------------------------------------------------------------------------|
|
| 22 |
+
| Driver Version: 580.173.02 | Graphics API: Vulkan
|
| 23 |
+
|=============================================================================================|
|
| 24 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 25 |
+
| | | | | | Device-ID | UUID |
|
| 26 |
+
| | | | | | Bus-ID | |
|
| 27 |
+
|---------------------------------------------------------------------------------------------|
|
| 28 |
+
| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32607 MB | 10de | 0 |
|
| 29 |
+
| | | | | | 2b85 | 95bb8da2.. |
|
| 30 |
+
| | | | | | c1 | |
|
| 31 |
+
|---------------------------------------------------------------------------------------------|
|
| 32 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32607 MB | 10de | 0 |
|
| 33 |
+
| | | | | | 2b85 | eaa18f60.. |
|
| 34 |
+
| | | | | | e1 | |
|
| 35 |
+
|=============================================================================================|
|
| 36 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-136-generic
|
| 37 |
+
| Processor: AMD Ryzen Threadripper PRO 7975WX 32-Cores
|
| 38 |
+
| Cores: 32 | Logical Cores: 64
|
| 39 |
+
|---------------------------------------------------------------------------------------------|
|
| 40 |
+
| Total Memory (MB): 128295 | Free Memory: 92266
|
| 41 |
+
| Total Page/Swap (MB): 32767 | Free Page/Swap: 25079
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
2026-08-24T01:02:11Z [1,048ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
|
| 44 |
+
2026-08-24T01:02:11Z [1,052ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
|
| 45 |
+
2026-08-24T01:02:11Z [1,052ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
|
| 46 |
+
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
|
| 47 |
+
D\D 0 1
|
| 48 |
+
0 1531.86 39.66
|
| 49 |
+
1 41.37 1556.27
|
| 50 |
+
P2P=Enabled Latency (P2P Writes) Matrix (us)
|
| 51 |
+
GPU 0 1
|
| 52 |
+
0 2.07 12.45
|
| 53 |
+
1 33.13 2.07
|
| 54 |
+
|
| 55 |
+
CPU 0 1
|
| 56 |
+
0 1.75 4.98
|
| 57 |
+
1 4.99 1.75
|
| 58 |
+
2026-08-24T01:02:11Z [1,114ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 39.7 GB/s.
|
| 59 |
+
2026-08-24T01:02:11Z [1,114ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 33.1 us.
|
| 60 |
+
2026-08-24T01:02:11Z [1,114ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
|
| 61 |
+
2026-08-24T01:02:12Z [1,645ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 62 |
+
2026-08-24T01:02:12Z [1,645ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 63 |
+
2026-08-24T01:02:12Z [1,665ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 64 |
+
2026-08-24T01:02:12Z [1,665ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 65 |
+
2026-08-24T01:02:12Z [1,672ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 66 |
+
2026-08-24T01:02:12Z [1,672ms] [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)
|
| 67 |
+
2026-08-24T01:02:12Z [1,689ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 68 |
+
2026-08-24T01:02:12Z [1,689ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 69 |
+
Warp CUDA error: Failed to get driver entry point 'cuDeviceGetUuid' (CUDA error 1)
|
| 70 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 71 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 72 |
+
Warp CUDA error: Function cuDeviceGetUuid_f: a suitable driver entry point was not found
|
| 73 |
+
Warp CUDA error 36: API call is not supported in the installed CUDA driver (in function cuda_init, /builds/omniverse/warp/warp/native/warp.cu:277)
|
| 74 |
+
[INFO][AppLauncher]: Using device: cpu
|
| 75 |
+
[INFO][AppLauncher]: Loading experience file: /home/zhiyanli/myProjects/Olympus/environments/isaac50/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
|
| 76 |
+
SESSION_EVENT {"event": "booted", "message": "kit up (enrich render) after 11s"}
|
| 77 |
+
SESSION_EVENT {"event": "samples_ready", "ticks": 265, "robot_states": 1141, "entity_states": 265}
|
| 78 |
+
SESSION_EVENT {"event": "table_override", "message": "fixture=table_black, top=Black_Matte"}
|
| 79 |
+
SESSION_EVENT {"event": "lighting_override", "message": "dome(1000+hdr)"}
|
| 80 |
+
2026-08-24T01:02:12Z [1,690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 81 |
+
2026-08-24T01:02:12Z [1,690ms] [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)
|
| 82 |
+
2026-08-24T01:02:12Z [1,691ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 83 |
+
2026-08-24T01:02:12Z [1,691ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 84 |
+
2026-08-24T01:02:12Z [1,800ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 85 |
+
2026-08-24T01:02:12Z [2,186ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
|
| 86 |
+
2026-08-24T01:02:16Z [5,525ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
|
| 87 |
+
2026-08-24T01:02:16Z [5,627ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
|
| 88 |
+
2026-08-24T01:02:18Z [7,829ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 89 |
+
2026-08-24T01:02:18Z [7,830ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
|
| 90 |
+
2026-08-24T01:02:18Z [7,950ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
|
| 91 |
+
2026-08-24T01:02:20Z [9,519ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 92 |
+
2026-08-24T01:02:20Z [9,519ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 93 |
+
2026-08-24T01:02:20Z [9,519ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 94 |
+
2026-08-24T01:02:20Z [9,524ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
|
| 95 |
+
|
| 96 |
+
2026-08-24T01:02:20Z [9,533ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 97 |
+
2026-08-24T01:02:20Z [9,533ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
|
| 98 |
+
2026-08-24T01:02:22Z [12,260ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
|
| 99 |
+
2026-08-24T01:02:22Z [12,287ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (4). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
|
| 100 |
+
2026-08-24T01:02:22Z [12,402ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setRigidBodyFlag(): kinematic bodies with CCD enabled are not supported! CCD will be ignored., FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 645
|
| 101 |
+
2026-08-24T01:02:23Z [13,296ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 102 |
+
2026-08-24T01:02:23Z [13,296ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 103 |
+
2026-08-24T01:02:23Z [13,298ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 104 |
+
2026-08-24T01:02:23Z [13,298ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 105 |
+
2026-08-24T01:02:23Z [13,299ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
|
| 106 |
+
2026-08-24T01:02:23Z [13,299ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
|
| 107 |
+
2026-08-24T01:02:23Z [13,299ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 9 != 13.
|
| 108 |
+
2026-08-24T01:02:23Z [13,396ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 109 |
+
2026-08-24T01:02:23Z [13,411ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
|
| 110 |
+
2026-08-24T01:02:25Z [15,437ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
|
| 111 |
+
2026-08-24T01:02:25Z [15,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
|
| 112 |
+
2026-08-24T01:02:28Z [17,503ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 209) is below minimal input resolution of 300.
|
| 113 |
+
2026-08-24T01:02:28Z [17,653ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
|
| 114 |
+
2026-08-24T01:02:28Z [17,676ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
|
| 115 |
+
2026-08-24T01:02:28Z [17,676ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f19e301a/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
|
| 116 |
+
2026-08-24T01:02:28Z [17,715ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 117 |
+
2026-08-24T01:02:28Z [17,715ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 118 |
+
2026-08-24T01:02:28Z [17,716ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 119 |
+
2026-08-24T01:02:28Z [17,716ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 120 |
+
2026-08-24T01:02:28Z [17,716ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 232
|
| 121 |
+
2026-08-24T01:02:28Z [17,716ms] [Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity: Body must be non-kinematic!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 266
|
| 122 |
+
[INFO]: Base environment:
|
| 123 |
+
Environment device : cpu
|
| 124 |
+
Environment seed : None
|
| 125 |
+
Physics step-size : 0.008333333333333333
|
| 126 |
+
Rendering step-size : 0.008333333333333333
|
| 127 |
+
Environment step-size : 0.03333333333333333
|
| 128 |
+
[INFO]: Time taken for scene creation : 0.067607 seconds
|
| 129 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 130 |
+
Number of environments: 1
|
| 131 |
+
Environment spacing : 10.0
|
| 132 |
+
Source prim name : /World/envs/env_0
|
| 133 |
+
Global prim paths : []
|
| 134 |
+
Replicate physics : True
|
| 135 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 136 |
+
[INFO]: Time taken for simulation start : 5.350500 seconds
|
| 137 |
+
[INFO] Event Manager: <EventManager> contains 1 active terms.
|
| 138 |
+
+---------------------------------+
|
| 139 |
+
| Active Event Terms in Mode: 'reset' |
|
| 140 |
+
+------------+--------------------+
|
| 141 |
+
| Index | Name |
|
| 142 |
+
+------------+--------------------+
|
| 143 |
+
| 0 | reset_all |
|
| 144 |
+
+------------+--------------------+
|
| 145 |
+
|
| 146 |
+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
|
| 147 |
+
+---------------------+
|
| 148 |
+
| Active Recorder Terms |
|
| 149 |
+
+-----------+---------+
|
| 150 |
+
| Index | Name |
|
| 151 |
+
+-----------+---------+
|
| 152 |
+
+-----------+---------+
|
| 153 |
+
|
| 154 |
+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
|
| 155 |
+
+-----------------------------------+
|
| 156 |
+
| Active Action Terms (shape: 9) |
|
| 157 |
+
+--------+-------------+------------+
|
| 158 |
+
| Index | Name | Dimension |
|
| 159 |
+
+--------+-------------+------------+
|
| 160 |
+
| 0 | arm_action | 7 |
|
| 161 |
+
| 1 | jaw | 2 |
|
| 162 |
+
+--------+-------------+------------+
|
| 163 |
+
|
| 164 |
+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
|
| 165 |
+
+------------------------------------------+
|
| 166 |
+
| Active Observation Terms in Group: 'proprio' |
|
| 167 |
+
+-----------+------------------+-----------+
|
| 168 |
+
| Index | Name | Shape |
|
| 169 |
+
+-----------+------------------+-----------+
|
| 170 |
+
| 0 | joint_pos | (13,) |
|
| 171 |
+
+-----------+------------------+-----------+
|
| 172 |
+
|
| 173 |
+
Setting seed: 0
|
| 174 |
+
SESSION_EVENT {"event": "env_ready", "message": "replay env up (3 rigids kinematic, 8 colliders off, gravity off)"}
|
| 175 |
+
SESSION_EVENT {"event": "semantics_ready", "labels": 4}
|
| 176 |
+
SESSION_EVENT {"event": "render_started", "ticks": 265, "cameras": ["wrist", "over_shoulder_left", "over_shoulder_right"], "datatypes": ["rgb"]}
|
| 177 |
+
SESSION_EVENT {"event": "render_progress", "tick": 0, "total": 265}
|
| 178 |
+
SESSION_EVENT {"event": "render_progress", "tick": 30, "total": 265}
|
| 179 |
+
SESSION_EVENT {"event": "render_progress", "tick": 60, "total": 265}
|
| 180 |
+
SESSION_EVENT {"event": "render_progress", "tick": 90, "total": 265}
|
| 181 |
+
SESSION_EVENT {"event": "render_progress", "tick": 120, "total": 265}
|
| 182 |
+
SESSION_EVENT {"event": "render_progress", "tick": 150, "total": 265}
|
| 183 |
+
SESSION_EVENT {"event": "render_progress", "tick": 180, "total": 265}
|
| 184 |
+
SESSION_EVENT {"event": "render_progress", "tick": 210, "total": 265}
|
| 185 |
+
SESSION_EVENT {"event": "render_progress", "tick": 240, "total": 265}
|
| 186 |
+
SESSION_EVENT {"event": "render_done", "frames": 265, "manifest": "/home/zhiyanli/myProjects/Olympus/runs/episodes/session-1478437825518455-e0/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-4/render_manifest.json", "joint_tracking_error": {"robot": 0.0}}
|
| 187 |
+
2026-08-24T01:02:28Z [17,875ms] [Warning] [omni.hydra] Mesh '/__Prototype_16160473321122863039/Defeatured_2F_85_PAD_OPEN_finger4step' update topology/point without updating normal, fallback to smooth normal.
|
| 188 |
+
2026-08-24T01:02:29Z [18,524ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
initial_session/demos/_render-seg_1-enr-droid-wrist-left-right-head-640x360-4/render_manifest.json
ADDED
|
@@ -0,0 +1,322 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"version": 1,
|
| 3 |
+
"segment_id": "seg_1",
|
| 4 |
+
"scene_ref": "cube-back-short-term",
|
| 5 |
+
"embodiment": "franka-robotiq-2f85",
|
| 6 |
+
"width": 640,
|
| 7 |
+
"height": 360,
|
| 8 |
+
"datatypes": [
|
| 9 |
+
"rgb"
|
| 10 |
+
],
|
| 11 |
+
"tick_source": "robot_link_states",
|
| 12 |
+
"frame_count": 265,
|
| 13 |
+
"tick_times_ns": [
|
| 14 |
+
1478650063419689,
|
| 15 |
+
1478650146756312,
|
| 16 |
+
1478650230058933,
|
| 17 |
+
1478650296761816,
|
| 18 |
+
1478650380031247,
|
| 19 |
+
1478650446744896,
|
| 20 |
+
1478650533867625,
|
| 21 |
+
1478650616658686,
|
| 22 |
+
1478650686410227,
|
| 23 |
+
1478650757054940,
|
| 24 |
+
1478650836813639,
|
| 25 |
+
1478650910070143,
|
| 26 |
+
1478650983055079,
|
| 27 |
+
1478651063412829,
|
| 28 |
+
1478651146737464,
|
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