Add files using upload-large-folder tool

abl_visual_p015/episode_0000/meta.json

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abl_visual_p015/episode_0002/meta.json

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abl_visual_p015/episode_0006/meta.json

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abl_visual_p015/episode_0010/meta.json

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abl_visual_p015/episode_0013/meta.json

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+}

abl_visual_p015/episode_0016/meta.json

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abl_visual_p015/episode_0022/meta.json

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abl_visual_p015/episode_0025/meta.json

@@ -0,0 +1,143 @@
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abl_visual_p015/episode_0026/meta.json

@@ -0,0 +1,180 @@
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abl_visual_p015/episode_0027/meta.json

@@ -0,0 +1,131 @@
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abl_visual_p015/episode_0028/meta.json

@@ -0,0 +1,178 @@
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abl_visual_p015/episode_0030/meta.json

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abl_visual_p015/episode_0034/meta.json

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abl_visual_p015/episode_0036/meta.json

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abl_visual_p015/episode_0037/meta.json

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abl_visual_p015/episode_0038/meta.json

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abl_visual_p015/episode_0039/meta.json

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abl_visual_p015/episode_0040/meta.json

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abl_visual_p015/episode_0041/meta.json

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abl_visual_p015/episode_0043/meta.json

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abl_visual_p015/episode_0050/meta.json

@@ -0,0 +1,141 @@
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abl_visual_p015/episode_0051/meta.json

@@ -0,0 +1,176 @@
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+ "gripper_joint1_end": 0.6818960905075073,
+ "final_phase": "done",
+ "table_top_z": 0.742894868850708,
+ "program_sha": "9f1c8b2d6170",
+ "program_result": {
+  "success": true,
+  "status": "OK",
+  "ticks": 191
+ },
+ "params": {
+  "PREGRASP": 0.060616157948970795,
+  "LIFT": 0.14910325407981873,
+  "CLOSE_DELAY_S": 0.21522268652915955,
+  "RATE": 1.2581236362457275,
+  "VIA_XY": 0.013597968965768814,
+  "VIA_Z": 0.04959256947040558,
+  "TILT_DEG": 0.0,
+  "AZIMUTH_DEG": 0.0
+ },
+ "skills": [
+  {
+   "success": true,
+   "status": "OK",
+   "tag": "reach",
+   "err_mm": 1.6,
+   "err_deg": 0.1,
+   "ticks": 94
+  },
+  {
+   "success": true,
+   "status": "OK",
+   "tag": "approach",
+   "err_mm": 1.3,
+   "err_deg": 0.0,
+   "ticks": 38
+  },
+  {
+   "success": true,
+   "status": "OK",
+   "tag": "close",
+   "finger_q": 0.6819
+  },
+  {
+   "success": true,
+   "status": "OK",
+   "tag": "lift",
+   "err_mm": 2.5,
+   "err_deg": 0.1,
+   "ticks": 28
+  }
+ ],
+ "dr": {
+  "backdrop": {
+   "mode": "real",
+   "variant": "left_arm_right"
+  },
+  "table": {
+   "mode": "texture",
+   "texture": "Fabric030",
+   "tile_m": 1.126,
+   "angle_deg": 268.1
+  },
+  "lights": {
+   "mode": "random",
+   "ceiling": [
+    {
+     "pos": [
+      2.685,
+      -1.459,
+      2.37
+     ],
+     "intensity_scale": 2.072,
+     "kelvin": 6130
+    },
+    {
+     "pos": [
+      0.833,
+      1.713,
+      2.333
+     ],
+     "intensity_scale": 2.132,
+     "kelvin": 4106
+    }
+   ],
+   "level": 1.659,
+   "dome": {
+    "intensity_scale": 1.089,
+    "kelvin": 6714
+   }
+  },
+  "cube": {
+   "mode": "random",
+   "rgb": [
+    0.648,
+    0.558,
+    0.0
+   ],
+   "roughness": 0.72
+  },
+  "spots": {
+   "count": 3,
+   "spots": [
+    {
+     "aim": [
+      0.621,
+      0.368
+     ],
+     "dist": 1.557,
+     "tilt_deg": 7.2,
+     "cone_deg": 22.0,
+     "softness": 0.13,
+     "radius": 0.024,
+     "brightness": 0.93,
+     "kelvin": 5593
+    },
+    {
+     "aim": [
+      0.289,
+      0.22
+     ],
+     "dist": 1.276,
+     "tilt_deg": 4.2,
+     "cone_deg": 21.3,
+     "softness": 0.27,
+     "radius": 0.018,
+     "brightness": 1.11,
+     "kelvin": 5235
+    },
+    {
+     "aim": [
+      0.504,
+      0.527
+     ],
+     "dist": 1.542,
+     "tilt_deg": 28.0,
+     "cone_deg": 11.8,
+     "softness": 0.38,
+     "radius": 0.038,
+     "brightness": 0.57,
+     "kelvin": 3662
+    }
+   ]
+  }
+ },
+ "start_pose": {
+  "arm_offset_deg": {
+   "l": [],
+   "r": []
+  },
+  "joints": [],
+  "gripper_open": 0.1822,
+  "gripper_close": 0.7523
+ },
+ "pair_key": [
+  40015,
+  4,
+  3
+ ],
+ "length": 191,
+ "fps": 15
+}

logs/abl_visual_p001.log

@@ -0,0 +1,277 @@
+[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_011811.log
+2026-11-07T01:18:12Z [555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:12Z [555ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:12Z [626ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:18:12Z [627ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:18:12Z [627ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:18:12Z [627ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:18:12Z [653ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.56 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.
+2026-11-07T01:18:13Z [1,153ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:13Z [1,153ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:13Z [1,641ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:18:13Z [1,641ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,641ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,642ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,642ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,642ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,643ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,643ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,644ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,644ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:13Z [1,645ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:13Z [1,645ms] [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                       | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | b8929e1f.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA A40                       |        |     | 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: 748990
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:18:14Z [2,205ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
+2026-11-07T01:18:14Z [2,882ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:14Z [2,882ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:14Z [2,903ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:14Z [2,903ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:14Z [2,911ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:14Z [2,911ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:14Z [2,921ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:14Z [2,921ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:14Z [2,922ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:14Z [2,922ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:14Z [2,923ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:14Z [2,923ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:14Z [3,132ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:18:15Z [3,476ms] [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.
+2026-11-07T01:18:15Z [3,486ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:18:18Z [6,541ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:18:18Z [6,764ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:18:18Z [6,764ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:18:18Z [6,765ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:18:24Z [12,448ms] [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
+2026-11-07T01:18:26Z [14,697ms] [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
+2026-11-07T01:18:27Z [15,849ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x1c06a6e0:World0.usd@ <0x1c0e7020>)
+
+2026-11-07T01:18:27Z [15,850ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x1c06a6e0:World0.usd@ <0x1c0e7020>)
+
+[INFO]: Time taken for scene creation : 1.387237 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...
+2026-11-07T01:18:28Z [16,747ms] [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
+2026-11-07T01:18:28Z [17,127ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:18:28Z [17,138ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:18:30Z [18,374ms] [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
+2026-11-07T01:18:30Z [18,374ms] [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
+2026-11-07T01:18:31Z [19,950ms] [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 : 8.133864 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      |
++---------+----------------+
+
+2026-11-07T01:18:36Z [24,301ms] [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
+2026-11-07T01:18:36Z [24,301ms] [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
+2026-11-07T01:18:36Z [24,301ms] [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
+2026-11-07T01:18:36Z [24,301ms] [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
+2026-11-07T01:18:36Z [24,301ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,302ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,303ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,304ms] [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
+2026-11-07T01:18:36Z [24,305ms] [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
+2026-11-07T01:18:36Z [24,305ms] [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
+2026-11-07T01:18:36Z [24,305ms] [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
+2026-11-07T01:18:36Z [24,305ms] [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
+2026-11-07T01:18:36Z [24,305ms] [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...
+2026-11-07T01:18:38Z [26,687ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:18:39Z [27,643ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/Backdrop/texture_back
+
+[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}, 596 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 999 s
+[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 1407 s
+[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1841 s
+[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p001 (61 successes, 3 failures)

logs/abl_visual_p002.log

@@ -0,0 +1,278 @@
+[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_011831.log
+2026-11-07T01:18:32Z [523ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:32Z [523ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:32Z [593ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:18:32Z [594ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:18:32Z [594ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:18:32Z [594ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:18:32Z [620ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.56 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.
+2026-11-07T01:18:33Z [1,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:33Z [1,099ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:33Z [1,627ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:18:33Z [1,627ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,628ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,629ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,631ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,631ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,633ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,633ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:18:33Z [1,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:18:33Z [1,634ms] [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                       | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | b8929e1f.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA A40                       |        |     | 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: 738817
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:18:34Z [2,334ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
+2026-11-07T01:18:34Z [2,985ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:34Z [2,985ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:34Z [3,008ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:34Z [3,008ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:34Z [3,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:34Z [3,017ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:34Z [3,026ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:34Z [3,026ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:34Z [3,027ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:34Z [3,027ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:34Z [3,028ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:18:34Z [3,028ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:18:35Z [3,230ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:18:35Z [3,591ms] [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.
+2026-11-07T01:18:35Z [3,599ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:18:38Z [6,786ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:18:38Z [7,057ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:18:38Z [7,057ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:18:38Z [7,059ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:18:42Z [10,402ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:18:44Z [12,878ms] [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
+2026-11-07T01:18:47Z [15,262ms] [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
+2026-11-07T01:18:48Z [16,698ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0xdf8ad70:World0.usd@ <0x1a06ee60>)
+
+2026-11-07T01:18:48Z [16,698ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0xdf8ad70:World0.usd@ <0x1a06ee60>)
+
+[INFO]: Time taken for scene creation : 1.664717 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...
+2026-11-07T01:18:49Z [17,575ms] [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
+2026-11-07T01:18:49Z [18,015ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:18:49Z [18,026ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:18:51Z [19,398ms] [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
+2026-11-07T01:18:51Z [19,399ms] [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
+2026-11-07T01:18:53Z [21,835ms] [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 : 9.038947 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      |
++---------+----------------+
+
+2026-11-07T01:18:57Z [26,039ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,040ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,041ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,042ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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
+2026-11-07T01:18:57Z [26,043ms] [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...
+2026-11-07T01:19:01Z [29,203ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:19:02Z [30,625ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_right
+
+[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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 554 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 921 s
+[COLLECT] batch 3: 45 ok / 3 failed so far, 48 saved, statuses {'OK': 45, 'GRASP_LOST': 3}, 1274 s
+[COLLECT] batch 4: 60 ok / 4 failed so far, 54 saved, statuses {'OK': 60, 'GRASP_LOST': 4}, 1547 s
+[COLLECT] done: 54 episodes in data_local/sim_demos/abl_visual_p002 (60 successes, 4 failures)

logs/abl_visual_p003.log

@@ -0,0 +1,278 @@
+[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_011932.log
+2026-11-07T01:19:32Z [556ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:32Z [556ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:32Z [627ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:19:32Z [629ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:19:32Z [629ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:19:32Z [629ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:19:32Z [651ms] [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.
+2026-11-07T01:19:33Z [1,280ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:33Z [1,280ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:34Z [2,203ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:19:34Z [2,203ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,234ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,234ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,238ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,238ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:34Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:34Z [2,240ms] [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: 708640
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:19:35Z [3,018ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
+2026-11-07T01:19:35Z [3,701ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:35Z [3,701ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:35Z [3,724ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:35Z [3,724ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:35Z [3,732ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:35Z [3,732ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:35Z [3,742ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:35Z [3,742ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:35Z [3,743ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:35Z [3,744ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:35Z [3,744ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:35Z [3,744ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:36Z [3,952ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:19:36Z [4,305ms] [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.
+2026-11-07T01:19:36Z [4,314ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:19:39Z [7,569ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:19:39Z [7,867ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:19:39Z [7,868ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:19:39Z [7,869ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:19:43Z [11,173ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:19:45Z [13,573ms] [Warning] [omni.fabric.plugin] Warning: attribute resolution not found for bucket id 7
+
+[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg
+2026-11-07T01:19:48Z [16,032ms] [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
+2026-11-07T01:19:49Z [17,166ms] [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:0x2fa493c0:World0.usd@ <0x3bb33170>)
+
+2026-11-07T01:19:49Z [17,166ms] [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:0x2fa493c0:World0.usd@ <0x3bb33170>)
+
+[INFO]: Time taken for scene creation : 1.382996 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...
+2026-11-07T01:19:50Z [18,049ms] [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
+2026-11-07T01:19:50Z [18,436ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:19:50Z [18,447ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:19:51Z [19,526ms] [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
+2026-11-07T01:19:51Z [19,526ms] [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
+2026-11-07T01:19:54Z [21,944ms] [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 : 8.361069 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      |
++---------+----------------+
+
+2026-11-07T01:19:57Z [25,847ms] [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
+2026-11-07T01:19:57Z [25,847ms] [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
+2026-11-07T01:19:57Z [25,847ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,848ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,849ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,850ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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
+2026-11-07T01:19:57Z [25,851ms] [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...
+2026-11-07T01:20:00Z [28,147ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:20:01Z [29,089ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 581 s
+[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 983 s
+[COLLECT] batch 3: 45 ok / 3 failed so far, 48 saved, statuses {'OK': 45, 'GRASP_LOST': 3}, 1373 s
+[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1724 s
+[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p003 (61 successes, 3 failures)

logs/abl_visual_p004.log

@@ -0,0 +1,278 @@
+[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_011952.log
+2026-11-07T01:19:52Z [554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:52Z [554ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:52Z [626ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:19:52Z [627ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:19:52Z [627ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:19:52Z [627ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:19:52Z [651ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.90 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.
+2026-11-07T01:19:53Z [1,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:53Z [1,099ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:54Z [1,836ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:19:54Z [1,836ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,839ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,839ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,841ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,841ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,843ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,843ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,854ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,854ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:19:54Z [1,855ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:19:54Z [1,855ms] [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: 695621
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:19:54Z [2,820ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
+2026-11-07T01:19:55Z [3,483ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:55Z [3,483ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:55Z [3,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:55Z [3,511ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:55Z [3,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:55Z [3,520ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:55Z [3,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:55Z [3,530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:55Z [3,531ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:55Z [3,531ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:55Z [3,532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:19:55Z [3,532ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:19:55Z [3,737ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:19:56Z [4,088ms] [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.
+2026-11-07T01:19:56Z [4,099ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:19:59Z [7,217ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:19:59Z [7,430ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:19:59Z [7,430ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:19:59Z [7,431ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:20:02Z [10,540ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:20:05Z [12,989ms] [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
+2026-11-07T01:20:07Z [15,304ms] [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
+2026-11-07T01:20:08Z [16,715ms] [Warning] [omni.usd] Warning: 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:0xde99b60:World0.usd@ <0x19f82550>)
+
+2026-11-07T01:20:08Z [16,715ms] [Warning] [omni.usd] Warning (secondary thread): 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:0xde99b60:World0.usd@ <0x19f82550>)
+
+[INFO]: Time taken for scene creation : 1.644536 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...
+2026-11-07T01:20:09Z [17,611ms] [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
+2026-11-07T01:20:10Z [18,065ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:20:10Z [18,076ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:20:11Z [19,393ms] [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
+2026-11-07T01:20:11Z [19,394ms] [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
+2026-11-07T01:20:14Z [22,206ms] [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 : 9.903226 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      |
++---------+----------------+
+
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,928ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,929ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,930ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,931ms] [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
+2026-11-07T01:20:19Z [26,932ms] [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
+2026-11-07T01:20:19Z [26,932ms] [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
+2026-11-07T01:20:19Z [26,932ms] [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
+2026-11-07T01:20:19Z [26,932ms] [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...
+2026-11-07T01:20:22Z [29,934ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:20:23Z [31,366ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/Backdrop/texture_left
+
+[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: 14 ok / 2 failed so far, 16 saved, statuses {'OK': 14, 'GRASP_LOST': 2}, 602 s
+[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 951 s
+[COLLECT] batch 3: 45 ok / 3 failed so far, 48 saved, statuses {'OK': 45, 'GRASP_LOST': 3}, 1322 s
+[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1622 s
+[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p004 (61 successes, 3 failures)

logs/abl_visual_p006.log

@@ -0,0 +1,277 @@
+[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_012132.log
+2026-11-07T01:21:33Z [524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:33Z [524ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:33Z [594ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:21:33Z [596ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:21:33Z [596ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:21:33Z [596ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:21:33Z [619ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.94 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.
+2026-11-07T01:21:33Z [1,119ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:33Z [1,119ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:35Z [2,996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:21:35Z [2,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,028ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:21:35Z [3,028ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,034ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:21:35Z [3,034ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,041ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:21:35Z [3,041ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,102ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:21:35Z [3,102ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,102ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:21:35Z [3,103ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:21:35Z [3,103ms] [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                       |        |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | 1767fd9e.. |
+|     |                                  |        |     |            | 21        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA RTX A5000                 |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2231      | 2c2d41e2.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA RTX A5000                 | Yes: 0 |     | 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: 633479
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:21:37Z [4,921ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:37Z [4,921ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:37Z [4,948ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:37Z [4,948ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:37Z [4,960ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:37Z [4,960ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:37Z [4,970ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:37Z [4,970ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:37Z [4,972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:37Z [4,972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:37Z [4,972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:21:37Z [4,972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:21:37Z [5,192ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:21:38Z [5,572ms] [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.
+2026-11-07T01:21:38Z [5,580ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:21:41Z [8,749ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:21:41Z [8,917ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:21:41Z [8,917ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:21:41Z [8,919ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:21:44Z [12,491ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:21:47Z [14,987ms] [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
+2026-11-07T01:21:49Z [17,448ms] [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
+2026-11-07T01:21:51Z [18,522ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x2b7e8960:World0.usd@ <0x378b4730>)
+
+2026-11-07T01:21:51Z [18,522ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x2b7e8960:World0.usd@ <0x378b4730>)
+
+[INFO]: Time taken for scene creation : 1.304546 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...
+2026-11-07T01:21:51Z [19,394ms] [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
+2026-11-07T01:21:52Z [19,778ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:21:52Z [19,789ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:21:53Z [20,887ms] [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
+2026-11-07T01:21:53Z [20,887ms] [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
+2026-11-07T01:21:57Z [24,662ms] [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 : 9.084921 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      |
++---------+----------------+
+
+2026-11-07T01:22:00Z [27,910ms] [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
+2026-11-07T01:22:00Z [27,910ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,911ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,912ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,913ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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
+2026-11-07T01:22:00Z [27,914ms] [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...
+2026-11-07T01:22:02Z [30,434ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:22:03Z [31,130ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/Backdrop/texture_left
+
+[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}, 302 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 489 s
+[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 693 s
+[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 850 s
+[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p006 (62 successes, 2 failures)

logs/abl_visual_p007.log

@@ -0,0 +1,277 @@
+[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_012212.log
+2026-11-07T01:22:13Z [547ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:13Z [547ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:13Z [616ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:22:13Z [617ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:22:13Z [617ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:22:13Z [617ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:22:13Z [641ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.94 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.
+2026-11-07T01:22:13Z [1,303ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:13Z [1,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:15Z [2,971ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:15Z [2,971ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:15Z [2,972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,973ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:15Z [2,973ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,974ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:15Z [2,974ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:15Z [2,976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:15Z [2,976ms] [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                       |        |     | 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                 | Yes: 0 |     | 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: 612771
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:22:17Z [5,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:17Z [5,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:17Z [5,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:17Z [5,098ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:17Z [5,107ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:17Z [5,107ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:17Z [5,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:17Z [5,117ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:17Z [5,118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:17Z [5,118ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:17Z [5,118ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:17Z [5,118ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:17Z [5,324ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:22:18Z [5,701ms] [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.
+2026-11-07T01:22:18Z [5,710ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:22:21Z [8,876ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:22:21Z [9,169ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:22:21Z [9,169ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:22:21Z [9,176ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:22:25Z [12,457ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:22:27Z [14,859ms] [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
+2026-11-07T01:22:29Z [17,288ms] [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
+2026-11-07T01:22:31Z [18,419ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x189a9350:World0.usd@ <0x24ab1c80>)
+
+2026-11-07T01:22:31Z [18,419ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x189a9350:World0.usd@ <0x24ab1c80>)
+
+[INFO]: Time taken for scene creation : 1.365836 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...
+2026-11-07T01:22:31Z [19,291ms] [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
+2026-11-07T01:22:32Z [19,662ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:22:32Z [19,673ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:22:33Z [20,841ms] [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
+2026-11-07T01:22:33Z [20,841ms] [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
+2026-11-07T01:22:37Z [25,069ms] [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 : 9.592380 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      |
++---------+----------------+
+
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,309ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,310ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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
+2026-11-07T01:22:40Z [28,311ms] [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...
+2026-11-07T01:22:43Z [30,577ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:22:44Z [31,502ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_back
+
+[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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 281 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 519 s
+[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 755 s
+[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 931 s
+[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p007 (62 successes, 2 failures)

logs/abl_visual_p008.log

@@ -0,0 +1,278 @@
+[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_012252.log
+2026-11-07T01:22:53Z [531ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:53Z [531ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:53Z [599ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:22:53Z [601ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:22:53Z [601ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:22:53Z [601ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:22:53Z [623ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.94 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.
+2026-11-07T01:22:53Z [1,053ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:53Z [1,053ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:55Z [3,105ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:55Z [3,105ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,107ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:55Z [3,107ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:55Z [3,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,191ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:55Z [3,191ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,192ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:55Z [3,193ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:22:55Z [3,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:22:55Z [3,195ms] [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                       |        |     | 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                 | Yes: 0 |     | 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: 591124
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:22:58Z [5,864ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:58Z [5,864ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:58Z [6,048ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:58Z [6,048ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:58Z [6,064ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:58Z [6,065ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:58Z [6,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:58Z [6,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:58Z [6,077ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:58Z [6,077ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:58Z [6,077ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:22:58Z [6,077ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:22:59Z [6,290ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:22:59Z [6,660ms] [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.
+2026-11-07T01:22:59Z [6,669ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:23:02Z [9,892ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:23:02Z [10,152ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:23:02Z [10,153ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:23:02Z [10,155ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:23:06Z [13,534ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:23:10Z [18,038ms] [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
+2026-11-07T01:23:42Z [49,231ms] [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
+2026-11-07T01:23:43Z [50,443ms] [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:0x1e451520:World0.usd@ <0x2a51d6b0>)
+
+2026-11-07T01:23:43Z [50,443ms] [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:0x1e451520:World0.usd@ <0x2a51d6b0>)
+
+[INFO]: Time taken for scene creation : 1.434810 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...
+2026-11-07T01:23:44Z [51,321ms] [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
+2026-11-07T01:23:44Z [51,709ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:23:44Z [51,722ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:23:45Z [52,862ms] [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
+2026-11-07T01:23:45Z [52,862ms] [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
+2026-11-07T01:23:49Z [56,726ms] [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 : 9.606445 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      |
++---------+----------------+
+
+2026-11-07T01:23:53Z [60,346ms] [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
+2026-11-07T01:23:53Z [60,346ms] [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
+2026-11-07T01:23:53Z [60,346ms] [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
+2026-11-07T01:23:53Z [60,346ms] [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
+2026-11-07T01:23:53Z [60,346ms] [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
+2026-11-07T01:23:53Z [60,346ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,347ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,348ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,349ms] [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
+2026-11-07T01:23:53Z [60,350ms] [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
+2026-11-07T01:23:53Z [60,350ms] [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
+2026-11-07T01:23:53Z [60,350ms] [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
+2026-11-07T01:23:53Z [60,350ms] [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
+2026-11-07T01:23:53Z [60,350ms] [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
+2026-11-07T01:23:53Z [60,350ms] [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...
+2026-11-07T01:23:55Z [62,698ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:23:56Z [63,595ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_right
+
+[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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 313 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 544 s
+2026-11-07T01:35:21Z [748,378ms] [Error] [omni.syntheticdata.plugin] OgnSdOnNewFrame : frames [1041|30, 1041|30] discarded
+[COLLECT] batch 3: 45 ok / 3 failed so far, 48 saved, statuses {'OK': 45, 'GRASP_LOST': 3}, 805 s
+[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 972 s
+[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p008 (61 successes, 3 failures)

logs/abl_visual_p009.log

@@ -0,0 +1,277 @@
+[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_013553.log
+2026-11-07T01:35:54Z [558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:35:54Z [558ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:35:54Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:35:54Z [637ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:35:54Z [637ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:35:54Z [637ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:35:54Z [653ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3831.01 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.
+2026-11-07T01:35:54Z [1,004ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:35:54Z [1,004ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:35:58Z [4,920ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:35:58Z [4,920ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,921ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:35:58Z [4,921ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,923ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:35:58Z [4,923ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,924ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:35:58Z [4,924ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:35:58Z [4,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:35:58Z [4,925ms] [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                       |        |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | 1767fd9e.. |
+|     |                                  |        |     |            | 21        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA RTX A5000                 | Yes: 0 |     | 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: 479319
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:36:01Z [7,613ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:01Z [7,613ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:01Z [7,652ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:01Z [7,652ms] [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)
+2026-11-07T01:36:01Z [7,662ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:01Z [7,662ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:01Z [7,672ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:01Z [7,672ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:01Z [7,673ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:01Z [7,673ms] [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)
+2026-11-07T01:36:01Z [7,674ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:01Z [7,674ms] [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)
+2026-11-07T01:36:01Z [7,877ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:36:01Z [8,249ms] [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.
+2026-11-07T01:36:01Z [8,257ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:36:04Z [11,481ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:36:05Z [11,647ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:36:05Z [11,647ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:36:05Z [11,648ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:36:08Z [14,755ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:36:10Z [17,146ms] [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
+2026-11-07T01:36:13Z [19,780ms] [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
+2026-11-07T01:36:14Z [20,942ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x3d7c72b0:World0.usd@ <0x7ce25dc2dcb0>)
+
+2026-11-07T01:36:14Z [20,942ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x3d7c72b0:World0.usd@ <0x7ce25dc2dcb0>)
+
+[INFO]: Time taken for scene creation : 1.376542 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...
+2026-11-07T01:36:15Z [21,810ms] [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
+2026-11-07T01:36:15Z [22,186ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:36:15Z [22,198ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:36:16Z [23,348ms] [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
+2026-11-07T01:36:16Z [23,349ms] [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
+2026-11-07T01:36:18Z [24,964ms] [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 : 7.287630 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      |
++---------+----------------+
+
+2026-11-07T01:36:21Z [28,516ms] [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
+2026-11-07T01:36:21Z [28,516ms] [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
+2026-11-07T01:36:21Z [28,516ms] [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
+2026-11-07T01:36:21Z [28,516ms] [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
+2026-11-07T01:36:21Z [28,516ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,517ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,518ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,519ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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
+2026-11-07T01:36:21Z [28,520ms] [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...
+2026-11-07T01:36:24Z [30,856ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:36:25Z [31,769ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_right
+
+[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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 308 s
+[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 523 s
+[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 713 s
+[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 882 s
+[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p009 (63 successes, 1 failures)

logs/abl_visual_p010.log

@@ -0,0 +1,277 @@
+[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_013628.log
+2026-11-07T01:36:29Z [560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:29Z [560ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:29Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:36:29Z [636ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:36:29Z [636ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:36:29Z [636ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:36:29Z [651ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3986.05 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.
+2026-11-07T01:36:29Z [1,061ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:29Z [1,061ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:33Z [5,152ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:36:33Z [5,152ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:36:33Z [5,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,156ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:36:33Z [5,156ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,159ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:36:33Z [5,159ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,161ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:36:33Z [5,161ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:36:33Z [5,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:36:33Z [5,162ms] [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                       |        |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | 1767fd9e.. |
+|     |                                  |        |     |            | 21        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA RTX A5000                 |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2231      | 2c2d41e2.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA RTX A5000                 | Yes: 0 |     | 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: 473860
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:36:36Z [8,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:36Z [8,085ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:36Z [8,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:36Z [8,116ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:36Z [8,125ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:36Z [8,125ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:36Z [8,135ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:36Z [8,135ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:36Z [8,136ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:36Z [8,136ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:36Z [8,137ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:36:36Z [8,137ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:36:36Z [8,365ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:36:37Z [8,773ms] [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.
+2026-11-07T01:36:37Z [8,781ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:36:40Z [12,037ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:36:40Z [12,211ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:36:40Z [12,211ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:36:40Z [12,212ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:36:43Z [15,400ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:36:49Z [20,577ms] [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
+2026-11-07T01:36:52Z [24,341ms] [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
+2026-11-07T01:36:53Z [25,463ms] [Warning] [omni.usd] Warning: 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:0x7c506bdd11e0:World0.usd@ <0x7c506bb444c0>)
+
+2026-11-07T01:36:53Z [25,463ms] [Warning] [omni.usd] Warning (secondary thread): 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:0x7c506bdd11e0:World0.usd@ <0x7c506bb444c0>)
+
+[INFO]: Time taken for scene creation : 1.349481 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...
+2026-11-07T01:36:54Z [26,337ms] [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
+2026-11-07T01:36:55Z [26,720ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:36:55Z [26,732ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:36:56Z [27,847ms] [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
+2026-11-07T01:36:56Z [27,847ms] [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
+2026-11-07T01:36:57Z [29,394ms] [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 : 7.420955 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      |
++---------+----------------+
+
+2026-11-07T01:37:01Z [33,169ms] [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
+2026-11-07T01:37:01Z [33,169ms] [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
+2026-11-07T01:37:01Z [33,169ms] [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
+2026-11-07T01:37:01Z [33,169ms] [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
+2026-11-07T01:37:01Z [33,169ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,170ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,171ms] [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
+2026-11-07T01:37:01Z [33,172ms] [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
+2026-11-07T01:37:01Z [33,172ms] [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
+2026-11-07T01:37:01Z [33,172ms] [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...
+2026-11-07T01:37:03Z [35,463ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:37:05Z [36,781ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_back
+
+[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}, 318 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 565 s
+[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 814 s
+[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 978 s
+[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p010 (62 successes, 2 failures)

logs/abl_visual_p011.log

@@ -0,0 +1,277 @@
+[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_013833.log
+2026-11-07T01:38:34Z [596ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:34Z [596ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:34Z [670ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:38:34Z [671ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:38:34Z [671ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:38:34Z [680ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:38:34Z [696ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.11 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.
+2026-11-07T01:38:36Z [3,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:36Z [3,189ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:47Z [13,355ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:38:47Z [13,355ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,356ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:38:47Z [13,356ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,357ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:38:47Z [13,357ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,359ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:38:47Z [13,359ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:38:47Z [13,361ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:38:47Z [13,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:38:47Z [13,362ms] [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                       |        |     | 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                 | Yes: 0 |     | 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: 499460
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:38:48Z [14,942ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:48Z [14,942ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:48Z [14,980ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:48Z [14,980ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:48Z [14,990ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:48Z [14,990ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:48Z [15,001ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:48Z [15,001ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:48Z [15,002ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:48Z [15,002ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:48Z [15,003ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:38:48Z [15,003ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:38:48Z [15,220ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:38:49Z [15,578ms] [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.
+2026-11-07T01:38:49Z [15,586ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:38:52Z [18,823ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:38:52Z [18,998ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:38:52Z [18,998ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:38:52Z [18,999ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:38:55Z [22,181ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:38:58Z [24,648ms] [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
+2026-11-07T01:39:00Z [26,980ms] [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
+2026-11-07T01:39:01Z [28,107ms] [Warning] [omni.usd] Warning: 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:0x1e4d9a50:World0.usd@ <0x2a602a00>)
+
+2026-11-07T01:39:01Z [28,107ms] [Warning] [omni.usd] Warning (secondary thread): 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:0x1e4d9a50:World0.usd@ <0x2a602a00>)
+
+[INFO]: Time taken for scene creation : 1.367789 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...
+2026-11-07T01:39:02Z [28,986ms] [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
+2026-11-07T01:39:03Z [29,386ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:39:03Z [29,399ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:39:04Z [30,585ms] [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
+2026-11-07T01:39:04Z [30,585ms] [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
+2026-11-07T01:39:06Z [32,767ms] [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 : 8.988198 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      |
++---------+----------------+
+
+2026-11-07T01:39:11Z [37,407ms] [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
+2026-11-07T01:39:11Z [37,407ms] [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
+2026-11-07T01:39:11Z [37,407ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,408ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,409ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,410ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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
+2026-11-07T01:39:11Z [37,411ms] [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...
+2026-11-07T01:39:13Z [40,188ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:39:15Z [41,597ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_left
+
+[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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 291 s
+[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 530 s
+[COLLECT] batch 3: 48 ok / 0 failed so far, 48 saved, statuses {'OK': 48}, 755 s
+[COLLECT] batch 4: 64 ok / 0 failed so far, 50 saved, statuses {'OK': 64}, 908 s
+[COLLECT] done: 50 episodes in data_local/sim_demos/abl_visual_p011 (64 successes, 0 failures)

logs/abl_visual_p012.killed.log

@@ -0,0 +1,272 @@
+[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_014024.log
+2026-11-07T01:40:24Z [542ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:24Z [542ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:24Z [610ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:40:24Z [611ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:40:24Z [618ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:40:24Z [618ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:40:24Z [638ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.11 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.
+2026-11-07T01:40:25Z [1,109ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:25Z [1,109ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:29Z [5,692ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:40:29Z [5,692ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,750ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:40:29Z [5,750ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:40:29Z [5,752ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,808ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:40:29Z [5,808ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,818ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:40:29Z [5,818ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:40:29Z [5,821ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:40:29Z [5,821ms] [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                       |        |     | 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                 | Yes: 0 |     | 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: 506175
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:40:32Z [8,374ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:32Z [8,374ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:32Z [8,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:32Z [8,406ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:32Z [8,418ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:32Z [8,418ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:32Z [8,430ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:32Z [8,430ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:32Z [8,432ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:32Z [8,432ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:32Z [8,432ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:40:32Z [8,432ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:40:32Z [8,672ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:40:33Z [9,028ms] [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.
+2026-11-07T01:40:33Z [9,037ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:40:36Z [12,245ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:40:36Z [12,490ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:40:36Z [12,490ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:40:36Z [12,492ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:40:39Z [15,788ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:40:42Z [18,299ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg
+2026-11-07T01:40:44Z [20,850ms] [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
+2026-11-07T01:40:46Z [22,285ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x22386e30:World0.usd@ <0x2e450e60>)
+
+2026-11-07T01:40:46Z [22,285ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x22386e30:World0.usd@ <0x2e450e60>)
+
+[INFO]: Time taken for scene creation : 1.645348 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...
+2026-11-07T01:40:47Z [23,139ms] [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
+2026-11-07T01:40:47Z [23,689ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:40:47Z [23,703ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:40:48Z [24,959ms] [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
+2026-11-07T01:40:48Z [24,959ms] [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
+2026-11-07T01:40:50Z [26,834ms] [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 : 8.280672 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      |
++---------+----------------+
+
+2026-11-07T01:40:54Z [30,858ms] [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
+2026-11-07T01:40:54Z [30,858ms] [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
+2026-11-07T01:40:54Z [30,858ms] [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
+2026-11-07T01:40:54Z [30,858ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,859ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,860ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,861ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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
+2026-11-07T01:40:54Z [30,862ms] [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...
+2026-11-07T01:40:57Z [33,934ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:40:59Z [35,242ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_back
+
+[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]

logs/abl_visual_p012.log

@@ -0,0 +1,278 @@
+[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_031205.log
+2026-11-07T03:12:05Z [551ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:05Z [551ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:05Z [619ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T03:12:05Z [627ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T03:12:05Z [627ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T03:12:05Z [627ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T03:12:05Z [643ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3999.93 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.
+2026-11-07T03:12:06Z [997ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:06Z [997ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:07Z [2,523ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T03:12:07Z [2,524ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,525ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,525ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,527ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,527ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,529ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,529ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,531ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,531ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T03:12:07Z [2,532ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T03:12:07Z [2,532ms] [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                       | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | b8929e1f.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA A40                       |        |     | 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: 537448
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T03:12:09Z [4,418ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
+2026-11-07T03:12:10Z [5,174ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:10Z [5,174ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:10Z [5,206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:10Z [5,206ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:10Z [5,217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:10Z [5,217ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:10Z [5,227ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:10Z [5,227ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:10Z [5,228ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:10Z [5,228ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:10Z [5,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T03:12:10Z [5,229ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T03:12:10Z [5,447ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T03:12:10Z [5,763ms] [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.
+2026-11-07T03:12:10Z [5,771ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T03:12:13Z [8,971ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T03:12:14Z [9,202ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T03:12:14Z [9,202ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T03:12:14Z [9,204ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T03:12:17Z [12,543ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T03:12:20Z [15,181ms] [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
+2026-11-07T03:12:23Z [18,380ms] [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
+2026-11-07T03:12:26Z [21,177ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_1/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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x7cd5b88b6eb0:World0.usd@ <0x7cd5b88fd770>)
+
+2026-11-07T03:12:26Z [21,177ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_2/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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x7cd5b88b6eb0:World0.usd@ <0x7cd5b88fd770>)
+
+[INFO]: Time taken for scene creation : 3.011831 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...
+2026-11-07T03:12:27Z [22,207ms] [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
+2026-11-07T03:12:28Z [23,230ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T03:12:28Z [23,242ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T03:12:30Z [25,325ms] [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
+2026-11-07T03:12:30Z [25,325ms] [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
+2026-11-07T03:12:32Z [27,201ms] [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 : 10.508162 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      |
++---------+----------------+
+
+2026-11-07T03:12:37Z [31,996ms] [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
+2026-11-07T03:12:37Z [31,996ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,997ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,998ms] [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
+2026-11-07T03:12:37Z [31,999ms] [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
+2026-11-07T03:12:37Z [31,999ms] [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
+2026-11-07T03:12:37Z [31,999ms] [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
+2026-11-07T03:12:37Z [31,999ms] [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
+2026-11-07T03:12:37Z [31,999ms] [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
+2026-11-07T03:12:37Z [31,999ms] [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...
+2026-11-07T03:12:41Z [36,970ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T03:12:43Z [38,902ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 365 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 565 s
+[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 772 s
+[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 912 s
+[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p012 (63 successes, 1 failures)

logs/abl_visual_p013.log

@@ -0,0 +1,278 @@
+[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_014514.log
+2026-11-07T01:45:14Z [530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:14Z [530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:14Z [612ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:45:14Z [614ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:45:14Z [614ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:45:14Z [614ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:45:14Z [639ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.11 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.
+2026-11-07T01:45:15Z [1,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:15Z [1,117ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:19Z [5,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:45:19Z [5,182ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,183ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,183ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,185ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,185ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,187ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,187ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,189ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,189ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,189ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:45:19Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:45:19Z [5,190ms] [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                       | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2235      | b8929e1f.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA A40                       |        |     | 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: 505561
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:45:21Z [7,151ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
+2026-11-07T01:45:22Z [7,938ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:22Z [7,938ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:22Z [7,976ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:22Z [7,976ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:22Z [7,989ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:22Z [7,989ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:22Z [8,000ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:22Z [8,000ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:22Z [8,004ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:22Z [8,004ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:22Z [8,005ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:45:22Z [8,005ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:45:22Z [8,246ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:45:22Z [8,602ms] [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.
+2026-11-07T01:45:22Z [8,611ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:45:26Z [11,763ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:45:26Z [11,977ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:45:26Z [11,977ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:45:26Z [11,978ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:45:29Z [15,345ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:45:32Z [17,888ms] [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
+2026-11-07T01:45:34Z [20,443ms] [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
+2026-11-07T01:45:37Z [23,052ms] [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:0x272b66e0:World0.usd@ <0x333f9f40>)
+
+2026-11-07T01:45:37Z [23,052ms] [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:0x272b66e0:World0.usd@ <0x333f9f40>)
+
+[INFO]: Time taken for scene creation : 2.820738 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...
+2026-11-07T01:45:38Z [24,013ms] [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
+2026-11-07T01:45:39Z [25,043ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:45:39Z [25,060ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:45:41Z [26,961ms] [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
+2026-11-07T01:45:41Z [26,961ms] [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
+2026-11-07T01:45:45Z [30,737ms] [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 : 11.851631 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      |
++---------+----------------+
+
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,214ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,215ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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
+2026-11-07T01:45:49Z [35,216ms] [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...
+2026-11-07T01:45:54Z [40,538ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:45:55Z [41,607ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_left
+
+[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}, 531 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 847 s
+[COLLECT] batch 3: 43 ok / 5 failed so far, 48 saved, statuses {'OK': 43, 'GRASP_LOST': 5}, 1227 s
+[COLLECT] batch 4: 59 ok / 5 failed so far, 55 saved, statuses {'OK': 59, 'GRASP_LOST': 5}, 1548 s
+[COLLECT] done: 55 episodes in data_local/sim_demos/abl_visual_p013 (59 successes, 5 failures)

logs/abl_visual_p014.log

@@ -0,0 +1,278 @@
+[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_014749.log
+2026-11-07T01:47:50Z [540ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:50Z [540ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:50Z [606ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:47:50Z [614ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:47:50Z [614ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:47:50Z [614ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:47:50Z [630ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.11 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.
+2026-11-07T01:47:53Z [4,039ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:53Z [4,039ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:55Z [5,984ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:47:55Z [5,984ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,991ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,991ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,992ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,992ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:47:55Z [5,994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:47:55Z [5,994ms] [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: 507055
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:47:56Z [7,220ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
+2026-11-07T01:47:57Z [7,961ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:57Z [7,961ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:57Z [7,992ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:57Z [7,992ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:57Z [8,004ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:57Z [8,004ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:57Z [8,014ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:57Z [8,014ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:57Z [8,016ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:57Z [8,016ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:57Z [8,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:47:57Z [8,017ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:47:57Z [8,225ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:47:58Z [8,668ms] [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.
+2026-11-07T01:47:58Z [8,680ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:48:01Z [11,799ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:48:01Z [11,985ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:48:01Z [11,985ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:48:01Z [11,987ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:48:05Z [15,436ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:48:07Z [18,024ms] [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
+2026-11-07T01:48:10Z [20,708ms] [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
+2026-11-07T01:48:12Z [22,884ms] [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:0x3f3f81c0:World0.usd@ <0x729e2e6433b0>)
+
+2026-11-07T01:48:12Z [22,884ms] [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:0x3f3f81c0:World0.usd@ <0x729e2e6433b0>)
+
+[INFO]: Time taken for scene creation : 2.394795 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...
+2026-11-07T01:48:13Z [23,823ms] [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
+2026-11-07T01:48:14Z [24,618ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:48:14Z [24,632ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:48:15Z [26,117ms] [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
+2026-11-07T01:48:15Z [26,117ms] [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
+2026-11-07T01:48:17Z [27,880ms] [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 : 15.837566 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      |
++---------+----------------+
+
+2026-11-07T01:48:28Z [39,046ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,047ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,048ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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
+2026-11-07T01:48:28Z [39,049ms] [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...
+2026-11-07T01:48:36Z [47,366ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:48:37Z [48,376ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_left
+
+[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}, 619 s
+[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 953 s
+[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1387 s
+[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1678 s
+[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p014 (61 successes, 3 failures)

logs/abl_visual_p015.log

@@ -0,0 +1,278 @@
+[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_014904.log
+2026-11-07T01:49:04Z [562ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:04Z [562ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:04Z [632ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:49:04Z [634ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:49:04Z [634ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:49:04Z [634ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:49:04Z [659ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3930.59 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.
+2026-11-07T01:49:05Z [1,158ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:05Z [1,158ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:09Z [5,472ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:49:09Z [5,472ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,476ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,476ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,478ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,478ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,479ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,479ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,481ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,481ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,481ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:49:09Z [5,481ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,481ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,481ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,482ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,482ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,482ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,482ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:49:09Z [5,482ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:49:09Z [5,482ms] [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: 543044
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:49:11Z [6,958ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
+2026-11-07T01:49:11Z [7,746ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:11Z [7,746ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:11Z [7,775ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:11Z [7,775ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:11Z [7,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:11Z [7,786ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:11Z [7,796ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:11Z [7,797ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:11Z [7,798ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:11Z [7,798ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:11Z [7,799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:49:11Z [7,799ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:49:12Z [8,013ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:49:12Z [8,424ms] [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.
+2026-11-07T01:49:12Z [8,432ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:49:15Z [11,616ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:49:15Z [11,801ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:49:15Z [11,801ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:49:15Z [11,802ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:49:19Z [15,090ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:49:22Z [18,421ms] [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
+2026-11-07T01:49:29Z [25,496ms] [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
+2026-11-07T01:49:31Z [27,029ms] [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_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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x33a4a1a0:World0.usd@ <0x3fb8b780>)
+
+2026-11-07T01:49:31Z [27,029ms] [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_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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x33a4a1a0:World0.usd@ <0x3fb8b780>)
+
+[INFO]: Time taken for scene creation : 1.747478 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...
+2026-11-07T01:49:31Z [27,937ms] [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
+2026-11-07T01:49:32Z [28,507ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:49:32Z [28,522ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:49:34Z [30,036ms] [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
+2026-11-07T01:49:34Z [30,036ms] [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
+2026-11-07T01:49:35Z [31,819ms] [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 : 16.491098 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      |
++---------+----------------+
+
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,820ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,821ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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
+2026-11-07T01:49:47Z [43,822ms] [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...
+2026-11-07T01:49:52Z [48,616ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:49:54Z [50,226ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_back
+
+[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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 614 s
+[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 1056 s
+[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1440 s
+[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1748 s
+[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p015 (61 successes, 3 failures)