File size: 36,781 Bytes
96dc8a7 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 | [INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /workspace/cyclo_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20261107_024448.log
2026-11-07T02:44:48Z [535ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:48Z [535ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:48Z [608ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
2026-11-07T02:44:48Z [616ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
2026-11-07T02:44:48Z [616ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
2026-11-07T02:44:48Z [616ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
2026-11-07T02:44:48Z [632ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 4000.01 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods:
- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once).
- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan).
Driver caches will be re-generated which may take a few minutes on the next launch.
2026-11-07T02:44:49Z [1,042ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:49Z [1,042ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:51Z [2,844ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
2026-11-07T02:44:51Z [2,844ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,860ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,860ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,923ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,923ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,928ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,928ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|---------------------------------------------------------------------------------------------|
| Driver Version: 580.126.09 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA A40 | | | 46068 MB | 10de | 0 |
| | | | | | 2235 | b8929e1f.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | NVIDIA A40 | Yes: 0 | | 46068 MB | 10de | 0 |
| | | | | | 2235 | 1767fd9e.. |
| | | | | | 21 | |
|---------------------------------------------------------------------------------------------|
| 2 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 |
| | | | | | 2231 | 2c2d41e2.. |
| | | | | | 81 | |
|---------------------------------------------------------------------------------------------|
| 3 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 |
| | | | | | 2231 | ea65648e.. |
| | | | | | a1 | |
|---------------------------------------------------------------------------------------------|
| 4 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 |
| | | | | | 2231 | cdbb4419.. |
| | | | | | c1 | |
|---------------------------------------------------------------------------------------------|
| 5 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 |
| | | | | | 2231 | ab881203.. |
| | | | | | e1 | |
|=============================================================================================|
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-138-generic
| Processor: AMD EPYC 9554 64-Core Processor
| Cores: 128 | Logical Cores: 128
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 773700 | Free Memory: 533317
| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
|---------------------------------------------------------------------------------------------|
2026-11-07T02:44:55Z [7,444ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
2026-11-07T02:44:56Z [8,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:56Z [8,205ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:56Z [8,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:56Z [8,237ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:56Z [8,250ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:56Z [8,250ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:56Z [8,260ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:56Z [8,260ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:56Z [8,261ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:56Z [8,261ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:56Z [8,262ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:44:56Z [8,262ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:44:56Z [8,476ms] [Warning] [omni.log] Source: omni.hydra was already registered.
2026-11-07T02:44:57Z [8,820ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2026-11-07T02:44:57Z [8,829ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-11-07T02:45:00Z [12,093ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
2026-11-07T02:45:00Z [12,274ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
2026-11-07T02:45:00Z [12,274ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
2026-11-07T02:45:00Z [12,275ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
2026-11-07T02:45:04Z [15,754ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
2026-11-07T02:45:11Z [23,400ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg
2026-11-07T02:45:14Z [25,900ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
Environment device : cuda:0
Environment seed : None
Physics step-size : 0.016666666666666666
Rendering step-size : 0.06666666666666667
Environment step-size : 0.06666666666666667
2026-11-07T02:45:16Z [28,449ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_2/rear_wheel_drive_link/mesh.material:binding>: The relationship target </ffw_sg2_follower/Looks/DefaultMaterial> from </Flattened_Prototype_131/rear_wheel_drive_link/mesh.material:binding> in layer @/workspace/cyclo_lab/source/cyclo_lab/data/robots/FFW/FFW_SG2.usd@ refers to a path outside the scope of the reference from </Root/ffw_sg2_follower/rear_wheel_drive_link/visuals>. Ignoring. (getting targets for relationship </__Prototype_2/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x2dd920a0:World0.usd@ <0x2de1d9b0>)
2026-11-07T02:45:16Z [28,450ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_1/rear_wheel_steer_link/mesh.material:binding>: The relationship target </ffw_sg2_follower/Looks/DefaultMaterial> from </Flattened_Prototype_140/rear_wheel_steer_link/mesh.material:binding> in layer @/workspace/cyclo_lab/source/cyclo_lab/data/robots/FFW/FFW_SG2.usd@ refers to a path outside the scope of the reference from </Root/ffw_sg2_follower/rear_wheel_steer_link/visuals>. Ignoring. (getting targets for relationship </__Prototype_1/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x2dd920a0:World0.usd@ <0x2de1d9b0>)
[INFO]: Time taken for scene creation : 2.764628 seconds
[INFO]: Scene manager: <class InteractiveScene>
Number of environments: 16
Environment spacing : 10.0
Source prim name : /World/envs/env_0
Global prim paths : []
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2026-11-07T02:45:17Z [29,420ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint
2026-11-07T02:45:18Z [30,159ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-11-07T02:45:18Z [30,177ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-11-07T02:45:20Z [32,046ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link
2026-11-07T02:45:20Z [32,046ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link
2026-11-07T02:45:22Z [33,980ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (246, 139) is below minimal input resolution of 300.
[INFO]: Time taken for simulation start : 9.701860 seconds
[INFO] Command Manager: <CommandManager> contains 2 active terms.
+----------------------------------------+
| Active Command Terms |
+-------+-----------+--------------------+
| Index | Name | Type |
+-------+-----------+--------------------+
| 0 | ee_pose_l | UniformPoseCommand |
| 1 | ee_pose_r | UniformPoseCommand |
+-------+-----------+--------------------+
[INFO] Event Manager: <EventManager> contains 2 active terms.
+---------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+------------------------------+
| Index | Name |
+--------+------------------------------+
| 0 | reset_robot_joints |
| 1 | reset_robot_joint_targets |
+--------+------------------------------+
+--------------------------------------+
| Active Event Terms in Mode: 'startup' |
+---------+----------------------------+
| Index | Name |
+---------+----------------------------+
| 0 | head_tilt_from_yaml |
+---------+----------------------------+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
+---------------------+
| Active Recorder Terms |
+-----------+---------+
| Index | Name |
+-----------+---------+
+-----------+---------+
[INFO] Action Manager: <ActionManager> contains 4 active terms.
+--------------------------------------+
| Active Action Terms (shape: 22) |
+-------+------------------+-----------+
| Index | Name | Dimension |
+-------+------------------+-----------+
| 0 | arm_l_action | 7 |
| 1 | arm_r_action | 7 |
| 2 | gripper_l_action | 4 |
| 3 | gripper_r_action | 4 |
+-------+------------------+-----------+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+--------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (66,)) |
+------------+------------------------------+------------+
| Index | Name | Shape |
+------------+------------------------------+------------+
| 0 | joint_pos | (15,) |
| 1 | joint_vel | (15,) |
| 2 | pose_command_l | (7,) |
| 3 | pose_command_r | (7,) |
| 4 | actions | (22,) |
+------------+------------------------------+------------+
[INFO] Termination Manager: <TerminationManager> contains 1 active terms.
+-----------------------------+
| Active Termination Terms |
+-------+----------+----------+
| Index | Name | Time Out |
+-------+----------+----------+
| 0 | time_out | True |
+-------+----------+----------+
[INFO] Reward Manager: <RewardManager> contains 8 active terms.
+---------------------------------------------------------------------+
| Active Reward Terms |
+-------+---------------------------------------------------+---------+
| Index | Name | Weight |
+-------+---------------------------------------------------+---------+
| 0 | end_effector_position_tracking_left | -0.25 |
| 1 | end_effector_position_tracking_fine_grained_left | 0.12 |
| 2 | end_effector_orientation_tracking_left | -0.12 |
| 3 | end_effector_position_tracking_right | -0.25 |
| 4 | end_effector_position_tracking_fine_grained_right | 0.12 |
| 5 | end_effector_orientation_tracking_right | -0.12 |
| 6 | action_rate | -0.0001 |
| 7 | joint_vel | -0.0001 |
+-------+---------------------------------------------------+---------+
[INFO] Curriculum Manager: <CurriculumManager> contains 2 active terms.
+--------------------------+
| Active Curriculum Terms |
+---------+----------------+
| Index | Name |
+---------+----------------+
| 0 | action_rate |
| 1 | joint_vel |
+---------+----------------+
2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,431ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:45:26Z [38,431ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
[INFO]: Completed setting up the environment...
2026-11-07T02:45:31Z [43,046ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-11-07T02:45:33Z [45,226ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_floor
[COLLECT] 16 envs, arm l, program block_pick_v1_nocomp.py sha 9f1c8b2d6170, params ['AZIMUTH_DEG', 'CLOSE_DELAY_S', 'LIFT', 'PREGRASP', 'RATE', 'TILT_DEG', 'VIA_XY', 'VIA_Z'], noise_scale 0.0, p_miss 0.0, TCP offset [-0.0, -0.0, -0.1661]
[COLLECT] batch 1: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 477 s
[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 872 s
[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1235 s
[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1635 s
[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p034 (61 successes, 3 failures)
|