diff --git a/abl_visual_p004/index.json b/abl_visual_p004/index.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0a181c6ebbe3e05113f12afdb70ba8b54bd95b --- /dev/null +++ b/abl_visual_p004/index.json @@ -0,0 +1,8725 @@ +{ + "config": { + "cube": { + "size": [ + 0.05, + 0.05, + 0.04 + ], + "hole_radius": 0.01, + "mass": 0.05, + "friction": 1.5, + "color": [ + 0.352, + 0.578, + 0.0 + ], + "spawn_z": 0.755 + }, + "sampling": { + "area": [ + 0.275, + 0.5, + -0.08, + 0.64 + ], + "centre": [ + 0.5, + 0.19 + ], + "jitter": 0.03, + "yaw_jitter_deg": 10.0, + "yaw_abs_range": [ + 0.0, + 45.0 + ], + "max_shoulder_dist": 0.9, + "ring": null, + "reach_profile": [ + [ + -45.0, + 0.425 + ], + [ + -35.0, + 0.45 + ], + [ + -25.0, + 0.48 + ], + [ + -15.0, + 0.49 + ] + ], + "reach_centre": [ + 0.006, + 0.228 + ], + "exclude_live_profile": false + }, + "grasp": { + "tilt_deg": [ + 0.0, + 0.0 + ], + "azimuth_deg": [ + 0.0, + 0.0 + ], + "closing_axis_world": [ + 0.0, + 1.0, + 0.0 + 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0.3, + 1.2 + ] + }, + "light_rand": { + "p_nominal": 0.1, + "ceiling_shift_xy": 0.8, + "ceiling_z": [ + 2.2, + 3.4 + ], + "ceiling_intensity_scale": [ + 0.15, + 3.0 + ], + "dome_intensity_scale": [ + 0.3, + 2.0 + ], + "shared_level": [ + 0.15, + 3.0 + ], + "per_light_jitter": [ + 0.7, + 1.4 + ], + "dome_level": [ + 0.2, + 2.5 + ], + "color_temperature": [ + 3500.0, + 7000.0 + ] + }, + "camera_rand": null, + "cube_rand": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + }, + "robot": "sg2", + "rev1_pads": false, + "cad_gripper": true, + "table_raise": 0.0173 + }, + "success": { + "lift_thresh": 0.05, + "closed_margin": 0.05 + }, + "traj_rand": null, + "arm": "l" + }, + "args": { + "name": "abl_visual_p004", + "program": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "episodes": 50, + "num_envs": 16, + "arm": "l", + "seed": 40004, + "keep_failed": true, + "no_head": false, + "max_batches": 0, + "max_ticks": 300, + 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"split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 2.0, + "HOLD_S": 0.5, + "LIFT_S": 1.5, + "FINAL_S": 0.5, + "CLOSE_DELAY_S": 0.0, + "VIA_XY": 0.0, + "VIA_Z": 0.0, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + 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true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 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"variant": "left_arm_right" + }, + "table": { + "mode": "colour", + "rgb": [ + 0.137, + 0.184, + 0.186 + ], + "roughness": 0.138 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 3.441, + -0.557, + 3.046 + ], + "intensity_scale": 2.307, + "kelvin": 4070 + }, + { + "pos": [ + 1.123, + 0.741, + 2.514 + ], + "intensity_scale": 2.137, + "kelvin": 6963 + } + ], + "level": 2.316, + "dome": { + "intensity_scale": 0.36, + "kelvin": 4620 + } + }, + "cube": { + "mode": "random", + "rgb": [ + 0.303, + 0.653, + 0.0 + ], + "roughness": 0.436 + }, + "spots": { + "count": 3, + "spots": [ + { + "aim": [ + 0.582, + -0.075 + ], + "dist": 1.401, + "tilt_deg": 31.9, + "cone_deg": 12.9, + "softness": 0.29, + "radius": 0.042, + "brightness": 0.52, + "kelvin": 5475 + }, + { + "aim": [ + 0.397, + 0.31 + ], + "dist": 1.475, + "tilt_deg": 8.5, + "cone_deg": 20.1, + "softness": 0.05, + "radius": 0.038, + "brightness": 0.62, + "kelvin": 5479 + }, + { + "aim": [ + 0.442, + 0.34 + ], + "dist": 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"name": "abl_visual_p008", + "program": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "episodes": 50, + "num_envs": 16, + "arm": "l", + "seed": 40008, + "keep_failed": true, + "no_head": false, + "max_batches": 0, + "max_ticks": 300, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,lift", + "p_miss": 0.0, + "parity_rng": false, + "centre": null, + "jitter": null, + "tilt": null, + "azimuth": null, + "board": true, + "robot": "sg2", + "rev1_pads": false, + "table_in": 29.25, + "cad_gripper": true, + "wrist_calib": "data_collection/real_gripper/analysis/wrist_calib", + "table_29in": false, + "max_shoulder_dist": 0.9, + "ring": null, + "reach_centre": [ + 0.006, + 0.228 + ], + "exclude_live_profile": false, + "reach_profile": "-45:0.425,-35:0.45,-25:0.48,-15:0.49", + "area": [ + 0.275, + 0.5, + -0.08, + 0.64 + ], + "yaw_abs_range": [ + 0.0, + 45.0 + ], + "surroundings": false, + "rand_table": false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 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false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 2.0, + "HOLD_S": 0.5, + "LIFT_S": 1.5, + "FINAL_S": 0.5, + "CLOSE_DELAY_S": 0.0, + "VIA_XY": 0.0, + "VIA_Z": 0.0, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", 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"softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 2.0, + "HOLD_S": 0.5, + "LIFT_S": 1.5, + "FINAL_S": 0.5, + "CLOSE_DELAY_S": 0.0, + "VIA_XY": 0.0, + "VIA_Z": 0.0, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "episodes": [ + { + "episode": 0, + "success": true, + "arm": "l", + "cube_init_xy_yaw": [ + 0.4764420688152313, + 0.2114821821451187, + -21.67582130432129 + ], + "cube_settled_pos": [ + 0.4764423370361328, + 0.21148204803466797, + 0.762894868850708 + ], + "cube_lift": 0.11208873987197876, + "gripper_joint1_end": 0.6942185759544373, + "final_phase": "done", + "table_top_z": 0.742894868850708, + "program_sha": "9f1c8b2d6170", + "program_result": { + "success": true, + "status": "OK", + "ticks": 183 + }, + "params": { + "PREGRASP": 0.08, + "LIFT": 0.12, + "CLOSE_DELAY_S": 0.0, + "RATE": 1.0, + "VIA_XY": 0.0, + "VIA_Z": 0.0, + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0 + }, + "skills": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.0, + "err_deg": 0.0, + "ticks": 75 + }, + { + "success": false, + "status": "NOT_CONVERGED", + "tag": "approach", + "err_mm": 10.5, + "err_deg": 0.1, + "ticks": 60 + }, + { + "success": true, + "status": "OK", + "tag": "close", + "finger_q": 0.6941 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 1.4, + "err_deg": 0.0, + "ticks": 22 + } + ], + "dr": { + "backdrop": { + "mode": "texture", + "floor": "Carpet012", + "walls": "CorrugatedSteel009", + "tile_m": 1.227 + }, + "table": { + "mode": "texture", + "texture": "Metal049A", + "tile_m": 0.687, + "angle_deg": 161.4 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.661, + -1.094, + 3.235 + ], + "intensity_scale": 1.429, + "kelvin": 6944 + }, + { + "pos": [ + 0.489, + 1.02, + 3.241 + ], + "intensity_scale": 1.191, + "kelvin": 6922 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0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 2.0, + 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"rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 2.0, + 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null, + "reach_centre": [ + 0.006, + 0.228 + ], + "exclude_live_profile": false, + "reach_profile": "-45:0.425,-35:0.45,-25:0.48,-15:0.49", + "area": [ + 0.275, + 0.5, + -0.08, + 0.64 + ], + "yaw_abs_range": [ + 0.0, + 45.0 + ], + "surroundings": false, + "rand_table": false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0, + "PREGRASP": 0.08, + "LIFT": 0.12, + "REACH_S": 5.0, + "APPROACH_S": 2.0, + "HOLD_S": 0.5, + "LIFT_S": 1.5, + "FINAL_S": 0.5, + "CLOSE_DELAY_S": 0.0, + "VIA_XY": 0.0, + "VIA_Z": 0.0, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "episodes": [ + { + "episode": 0, + "success": true, + "arm": "l", + "cube_init_xy_yaw": [ + 0.3344932496547699, + 0.3425777554512024, + 26.717226028442383 + ], + "cube_settled_pos": [ + 0.33449363708496094, + 0.3425779342651367, + 0.7628948092460632 + ], + "cube_lift": 0.11715281009674072, + "gripper_joint1_end": 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"exclude_live_profile": false, + "reach_profile": "-45:0.425,-35:0.45,-25:0.48,-15:0.49", + "area": [ + 0.275, + 0.5, + -0.08, + 0.64 + ], + "yaw_abs_range": [ + 0.0, + 45.0 + ], + "surroundings": false, + "rand_table": false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + 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45.0 + ], + "surroundings": false, + "rand_table": false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 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+ "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + "dist": "uniform", + "lo": -0.04, + "hi": 0.04 + }, + "VIA_Z": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.06 + }, + "TILT_DEG": null, + "AZIMUTH_DEG": null + }, + "nominal": { + "TILT_DEG": 0.0, + 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"board": true, + "robot": "sg2", + "rev1_pads": false, + "table_in": 29.25, + "cad_gripper": true, + "wrist_calib": "data_collection/real_gripper/analysis/wrist_calib", + "table_29in": false, + "max_shoulder_dist": 0.9, + "ring": null, + "reach_centre": [ + 0.006, + 0.228 + ], + "exclude_live_profile": false, + "reach_profile": "-45:0.425,-35:0.45,-25:0.48,-15:0.49", + "area": [ + 0.275, + 0.5, + -0.08, + 0.64 + ], + "yaw_abs_range": [ + 0.0, + 45.0 + ], + "surroundings": false, + "rand_table": false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + 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+ } + ] + } + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.1875, + "gripper_close": 0.7744 + }, + "pair_key": [ + 40037, + 1, + 0 + ], + "length": 153 + }, + { + "episode": 1, + "success": true, + "arm": "l", + "cube_init_xy_yaw": [ + 0.2894052267074585, + 0.6157016158103943, + 29.220172882080078 + ], + "cube_settled_pos": [ + 0.28940486907958984, + 0.6157016754150391, + 0.762894868850708 + ], + "cube_lift": 0.07719838619232178, + "gripper_joint1_end": 0.6864916682243347, + "final_phase": "done", + "table_top_z": 0.742894868850708, + "program_sha": "9f1c8b2d6170", + "program_result": { + "success": true, + "status": "OK", + "ticks": 199 + }, + "params": { + "PREGRASP": 0.08122863620519638, + "LIFT": 0.08333231508731842, + "CLOSE_DELAY_S": 0.2794313132762909, + "RATE": 1.2897841930389404, + "VIA_XY": 0.014312401413917542, + "VIA_Z": 0.02486041560769081, + "TILT_DEG": 0.0, + "AZIMUTH_DEG": 0.0 + }, + "skills": [ + { + "success": 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"roughness": [ + 0.3, + 0.8 + ] + }, + "robot": "sg2", + "rev1_pads": false, + "cad_gripper": true, + "table_raise": 0.0173 + }, + "success": { + "lift_thresh": 0.05, + "closed_margin": 0.05 + }, + "traj_rand": null, + "arm": "l" + }, + "args": { + "name": "abl_visual_p040", + "program": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "episodes": 50, + "num_envs": 16, + "arm": "l", + "seed": 40040, + "keep_failed": true, + "no_head": false, + "max_batches": 0, + "max_ticks": 300, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,lift", + "p_miss": 0.0, + "parity_rng": false, + "centre": null, + "jitter": null, + "tilt": null, + "azimuth": null, + "board": true, + "robot": "sg2", + "rev1_pads": false, + "table_in": 29.25, + "cad_gripper": true, + "wrist_calib": "data_collection/real_gripper/analysis/wrist_calib", + "table_29in": false, + "max_shoulder_dist": 0.9, + "ring": null, + "reach_centre": [ + 0.006, + 0.228 + ], + "exclude_live_profile": false, + "reach_profile": "-45:0.425,-35:0.45,-25:0.48,-15:0.49", + "area": [ + 0.275, + 0.5, + -0.08, + 0.64 + ], + "yaw_abs_range": [ + 0.0, + 45.0 + ], + "surroundings": false, + "rand_table": false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": true, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "enable_cameras": true, + "xr": false, + "device": "cuda:0", + "cpu": false, + "verbose": false, + "info": false, + "rendering_mode": null, + "kit_args": "", + "anim_recording_enabled": false, + "anim_recording_start_time": 0, + "anim_recording_stop_time": 10, + "headless": true, + "hide_ui": true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": { + "open": [ + 0.157, + 0.258 + ], + "close": [ + 0.75, + 0.83 + ] + }, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.15, + 0.55 + ], + "distance": [ + 0.6, + 1.6 + ], + "tilt_deg": [ + 0.0, + 35.0 + ], + "cone_deg": [ + 8.0, + 25.0 + ], + "softness": [ + 0.05, + 0.6 + ], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0 + }, + "program": { + "path": "data_collection/cap/programs/block_pick_v1_nocomp.py", + "sha": "9f1c8b2d6170", + "source": "\"\"\"Block pick = programs/block_pick_v0.py (the cap2k program) with ONE change: close_gripper(compensate=False), so the hand\nholds still while the fingers close (the planner's behaviour) instead of backing off 16 mm along the approach axis.\nCollected 2026-11-04 as the `2k_withoutpush` set together with --noise_scale 0 (no executed pushes) to test the two data\ndifferences found between cap2k and the planner yaw45 set (close-time hand lift, TagNoise pushes).\"\"\"\n\nTILT_DEG = 0.0 # approach straight down (GraspConfig.tilt_deg, user 2026-10-30)\nAZIMUTH_DEG = 0.0\nPREGRASP = 0.08 # m back along the approach axis\nLIFT = 0.12 # m\nREACH_S = 5.0 # phase durations (GraspConfig.durations_s)\nAPPROACH_S = 2.0\nHOLD_S = 0.5\nLIFT_S = 1.5\nFINAL_S = 0.5\nCLOSE_DELAY_S = 0.0 # pause at the grasp point before the fingers close\nVIA_XY = 0.0 # m, mid-reach bend of the path\nVIA_Z = 0.0\nRATE = 1.0 # phase-duration multiplier\n\nPARAMS = {\"PREGRASP\": {\"dist\": \"uniform\", \"lo\": 0.05, \"hi\": 0.11},\n \"LIFT\": {\"dist\": \"uniform\", \"lo\": 0.08, \"hi\": 0.15},\n \"CLOSE_DELAY_S\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.5},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.75, \"hi\": 1.35},\n \"VIA_XY\": {\"dist\": \"uniform\", \"lo\": -0.04, \"hi\": 0.04},\n \"VIA_Z\": {\"dist\": \"uniform\", \"lo\": 0.0, \"hi\": 0.06},\n \"TILT_DEG\": None, \"AZIMUTH_DEG\": None}\n\n\ndef play_once(api, rng):\n g = api.grasp_pose(api.cube(), tilt_deg=TILT_DEG, azimuth_deg=AZIMUTH_DEG, pregrasp_dist=PREGRASP, lift_height=LIFT)\n via = [VIA_XY * rng.choice([-1.0, 1.0]), VIA_XY * rng.choice([-1.0, 1.0]), VIA_Z]\n r = yield from api.move_to(g.pregrasp, dur_s=REACH_S * RATE, via=via, tag=\"reach\")\n yield from api.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from api.close_gripper(pause_s=CLOSE_DELAY_S, compensate=False)\n yield from api.hold(HOLD_S * RATE)\n yield from api.move_to(g.lift, dur_s=LIFT_S * RATE, tag=\"lift\")\n yield from api.hold(FINAL_S * RATE, tag=\"final\")\n return {\"success\": api.is_grasped(), \"status\": \"OK\" if api.is_grasped() else \"GRASP_LOST\"}\n", + "params": { + "PREGRASP": { + "dist": "uniform", + "lo": 0.05, + "hi": 0.11 + }, + "LIFT": { + "dist": "uniform", + "lo": 0.08, + "hi": 0.15 + }, + "CLOSE_DELAY_S": { + "dist": "uniform", + "lo": 0.0, + "hi": 0.5 + }, + "RATE": { + "dist": "uniform", + "lo": 0.75, + "hi": 1.35 + }, + "VIA_XY": { + 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"texture", + "floor": "Bricks113A", + "walls": "Concrete030", + "tile_m": 0.906 + }, + "table": { + "mode": "colour", + "rgb": [ + 0.096, + 0.225, + 0.225 + ], + "roughness": 0.106 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.838, + -1.137, + 2.393 + ], + "intensity_scale": 0.783, + "kelvin": 6844 + }, + { + "pos": [ + 1.275, + 0.465, + 2.228 + ], + "intensity_scale": 0.875, + "kelvin": 6912 + } + ], + "level": 1.03, + "dome": { + "intensity_scale": 1.281, + "kelvin": 6772 + } + }, + "cube": { + "mode": "nominal" + }, + "spots": { + "count": 2, + "spots": [ + { + "aim": [ + 0.567, + 0.455 + ], + "dist": 1.451, + "tilt_deg": 33.9, + "cone_deg": 9.5, + "softness": 0.6, + "radius": 0.049, + "brightness": 1.24, + "kelvin": 3073 + }, + { + "aim": [ + 0.608, + 0.34 + ], + "dist": 0.85, + "tilt_deg": 0.8, + "cone_deg": 21.4, + "softness": 0.27, + "radius": 0.015, + "brightness": 1.19, + "kelvin": 3912 + } + ] + } + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.1799, + "gripper_close": 0.8295 + }, + "pair_key": [ + 40040, + 4, + 7 + ], + "length": 153 + } + ], + "status_counts": { + "OK": 58, + "GRASP_LOST": 6 + } +} \ No newline at end of file diff --git a/logs/abl_visual_p001.log b/logs/abl_visual_p001.log new file mode 100644 index 0000000000000000000000000000000000000000..0b0b9a768794e5924bbc9005fcc82dd95e2122d8 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1c06a6e0:World0.usd@ <0x1c0e7020>) + +[INFO]: Time taken for scene creation : 1.387237 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p002.log b/logs/abl_visual_p002.log new file mode 100644 index 0000000000000000000000000000000000000000..cb2e91d419b021eda68b5df8fbb7b42ede58191d --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0xdf8ad70:World0.usd@ <0x1a06ee60>) + +[INFO]: Time taken for scene creation : 1.664717 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p003.log b/logs/abl_visual_p003.log new file mode 100644 index 0000000000000000000000000000000000000000..83d0db6d56e21a204e91bb9c9bf6f62bcf9ca169 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2fa493c0:World0.usd@ <0x3bb33170>) + +[INFO]: Time taken for scene creation : 1.382996 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p004.log b/logs/abl_visual_p004.log new file mode 100644 index 0000000000000000000000000000000000000000..703a255c22d2dc7f9a0047b7e319b5c72682b0e6 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0xde99b60:World0.usd@ <0x19f82550>) + +[INFO]: Time taken for scene creation : 1.644536 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p006.log b/logs/abl_visual_p006.log new file mode 100644 index 0000000000000000000000000000000000000000..cc81a0aac878a5ba5db7c4c66b12a6650dd870a9 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2b7e8960:World0.usd@ <0x378b4730>) + +[INFO]: Time taken for scene creation : 1.304546 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p007.log b/logs/abl_visual_p007.log new file mode 100644 index 0000000000000000000000000000000000000000..2a20b55d335c3cf1b26029170c049c570b71b293 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x189a9350:World0.usd@ <0x24ab1c80>) + +[INFO]: Time taken for scene creation : 1.365836 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p008.log b/logs/abl_visual_p008.log new file mode 100644 index 0000000000000000000000000000000000000000..8abb1b8a166c4db3cd2aea8c42dce2519cb24000 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1e451520:World0.usd@ <0x2a51d6b0>) + +[INFO]: Time taken for scene creation : 1.434810 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p009.log b/logs/abl_visual_p009.log new file mode 100644 index 0000000000000000000000000000000000000000..e372fa492c5df66ef14d39de53bfc6edbdc0c2c4 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3d7c72b0:World0.usd@ <0x7ce25dc2dcb0>) + +[INFO]: Time taken for scene creation : 1.376542 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p010.log b/logs/abl_visual_p010.log new file mode 100644 index 0000000000000000000000000000000000000000..dc9b3ba1fe3a70e84eea014226ffcf5b55c89710 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x7c506bdd11e0:World0.usd@ <0x7c506bb444c0>) + +[INFO]: Time taken for scene creation : 1.349481 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p011.log b/logs/abl_visual_p011.log new file mode 100644 index 0000000000000000000000000000000000000000..f3f4bb3a0a9364303ff0917a48f6a6c6c58b56d4 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1e4d9a50:World0.usd@ <0x2a602a00>) + +[INFO]: Time taken for scene creation : 1.367789 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p012.killed.log b/logs/abl_visual_p012.killed.log new file mode 100644 index 0000000000000000000000000000000000000000..c51bc7ede164a57aa4bd52f396b67bc8c7aa52c9 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x22386e30:World0.usd@ <0x2e450e60>) + +[INFO]: Time taken for scene creation : 1.645348 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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] diff --git a/logs/abl_visual_p012.log b/logs/abl_visual_p012.log new file mode 100644 index 0000000000000000000000000000000000000000..63bffe0e4a9073027742a0894b3f08e14cd84283 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x7cd5b88b6eb0:World0.usd@ <0x7cd5b88fd770>) + +[INFO]: Time taken for scene creation : 3.011831 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p013.log b/logs/abl_visual_p013.log new file mode 100644 index 0000000000000000000000000000000000000000..eacf723b9c608802c865dcb59e31566758325b3c --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x272b66e0:World0.usd@ <0x333f9f40>) + +[INFO]: Time taken for scene creation : 2.820738 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p014.log b/logs/abl_visual_p014.log new file mode 100644 index 0000000000000000000000000000000000000000..2779c099ca855b23009c863129d5966db3314973 --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3f3f81c0:World0.usd@ <0x729e2e6433b0>) + +[INFO]: Time taken for scene creation : 2.394795 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p015.log b/logs/abl_visual_p015.log new file mode 100644 index 0000000000000000000000000000000000000000..737b3aa819d821cdf4a4c4b625ba8ac56efb20ac --- /dev/null +++ b/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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x33a4a1a0:World0.usd@ <0x3fb8b780>) + +[INFO]: Time taken for scene creation : 1.747478 seconds +[INFO]: Scene manager: + 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: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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) diff --git a/logs/abl_visual_p016.log b/logs/abl_visual_p016.log new file mode 100644 index 0000000000000000000000000000000000000000..cc8c840a5cf9f5bfae9bfa69d927a46152d4ba36 --- /dev/null +++ b/logs/abl_visual_p016.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_014939.log +2026-11-07T01:49:39Z [526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:39Z [526ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:39Z [598ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T01:49:39Z [600ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T01:49:39Z [600ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T01:49:39Z [601ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T01:49:39Z [628ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3995.27 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. +2026-11-07T01:49:40Z [991ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:40Z [991ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:44Z [5,754ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:49:44Z [5,754ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,756ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,756ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,761ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,761ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,814ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,814ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,865ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,865ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:49:44Z [5,866ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:49:44Z [5,866ms] [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: 545657 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T01:49:46Z [7,909ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-07T01:49:47Z [8,654ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:47Z [8,654ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:47Z [8,822ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:47Z [8,822ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:47Z [8,836ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:47Z [8,836ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:47Z [8,846ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:47Z [8,846ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:47Z [8,848ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:47Z [8,848ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:47Z [8,849ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:49:47Z [8,849ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:49:48Z [9,065ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T01:49:48Z [9,439ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T01:49:48Z [9,449ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T01:49:51Z [12,738ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T01:49:52Z [12,989ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T01:49:52Z [12,989ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T01:49:52Z [12,992ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T01:50:00Z [21,134ms] [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 +2026-11-07T01:50:29Z [50,969ms] [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 +2026-11-07T01:50:32Z [53,871ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3363acd0:World0.usd@ <0x3f79ff80>) + +2026-11-07T01:50:32Z [53,872ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3363acd0:World0.usd@ <0x3f79ff80>) + +[INFO]: Time taken for scene creation : 3.123906 seconds +[INFO]: Scene manager: + 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... +2026-11-07T01:50:33Z [54,770ms] [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 +2026-11-07T01:50:34Z [55,686ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:50:34Z [55,699ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:50:36Z [57,769ms] [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 +2026-11-07T01:50:36Z [57,769ms] [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 +2026-11-07T01:50:41Z [62,710ms] [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 : 13.510860 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,694ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,695ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:50:46Z [67,696ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-07T01:50:51Z [72,317ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:50:53Z [74,944ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/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: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 569 s +[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 939 s +[COLLECT] batch 3: 45 ok / 3 failed so far, 48 saved, statuses {'OK': 45, 'GRASP_LOST': 3}, 1338 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1659 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p016 (61 successes, 3 failures) diff --git a/logs/abl_visual_p017.log b/logs/abl_visual_p017.log new file mode 100644 index 0000000000000000000000000000000000000000..6dd5cd49a858a7ed6b2f892f460db8adac4adab6 --- /dev/null +++ b/logs/abl_visual_p017.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_015124.log +2026-11-07T01:51:25Z [559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:25Z [559ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:25Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T01:51:25Z [636ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T01:51:25Z [636ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T01:51:25Z [636ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T01:51:25Z [850ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 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. +2026-11-07T01:51:32Z [8,042ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:32Z [8,042ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:35Z [10,606ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:51:35Z [10,606ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,608ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:51:35Z [10,608ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,612ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:51:35Z [10,612ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,613ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:51:35Z [10,613ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:51:35Z [10,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:51:35Z [10,615ms] [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: 542223 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T01:51:36Z [11,811ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:36Z [11,811ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:36Z [11,835ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:36Z [11,835ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:36Z [11,845ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:36Z [11,845ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:36Z [11,855ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:36Z [11,855ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:36Z [11,856ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:36Z [11,856ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:36Z [11,857ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:51:36Z [11,857ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:51:36Z [12,065ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T01:51:37Z [12,488ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T01:51:37Z [12,497ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T01:51:40Z [15,720ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T01:51:40Z [16,104ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T01:51:40Z [16,104ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T01:51:40Z [16,105ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T01:51:44Z [19,335ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T01:51:46Z [21,727ms] [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 +2026-11-07T01:51:49Z [24,297ms] [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 +2026-11-07T01:51:50Z [25,867ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3ab70b30:World0.usd@ <0x714600ddd9f0>) + +2026-11-07T01:51:50Z [25,867ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3ab70b30:World0.usd@ <0x714600ddd9f0>) + +[INFO]: Time taken for scene creation : 1.778698 seconds +[INFO]: Scene manager: + 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... +2026-11-07T01:51:51Z [26,771ms] [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 +2026-11-07T01:51:52Z [27,330ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:51:52Z [27,341ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:51:53Z [28,729ms] [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 +2026-11-07T01:51:53Z [28,729ms] [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 +2026-11-07T01:51:55Z [30,307ms] [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 : 14.527555 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T01:52:05Z [40,676ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,676ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,676ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,676ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,677ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,678ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,679ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:52:05Z [40,680ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-07T01:52:07Z [43,185ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:52:08Z [43,888ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/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}, 303 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 526 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 773 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 954 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p017 (61 successes, 3 failures) diff --git a/logs/abl_visual_p018.log b/logs/abl_visual_p018.log new file mode 100644 index 0000000000000000000000000000000000000000..32a497bddb85378685df90ebb77d7f34ca5adf96 --- /dev/null +++ b/logs/abl_visual_p018.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_015339.log +2026-11-07T01:53:40Z [557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:40Z [557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:40Z [631ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T01:53:40Z [632ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T01:53:40Z [632ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T01:53:40Z [632ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T01:53:40Z [655ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 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. +2026-11-07T01:53:40Z [1,091ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:40Z [1,091ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:45Z [5,669ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:53:45Z [5,669ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,670ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:53:45Z [5,670ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,671ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:53:45Z [5,671ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,674ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:53:45Z [5,674ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,674ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:53:45Z [5,674ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:53:45Z [5,675ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:53:45Z [5,675ms] [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: 532641 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T01:53:47Z [8,131ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:47Z [8,131ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:47Z [8,156ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:47Z [8,156ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:47Z [8,165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:47Z [8,165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:47Z [8,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:47Z [8,175ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:47Z [8,176ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:47Z [8,176ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:47Z [8,177ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:53:47Z [8,177ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:53:48Z [8,392ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T01:53:48Z [8,766ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T01:53:48Z [8,775ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T01:53:51Z [11,994ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T01:53:51Z [12,289ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T01:53:51Z [12,289ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T01:53:51Z [12,290ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T01:53:55Z [15,532ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T01:53:57Z [18,076ms] [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 +2026-11-07T01:54:00Z [20,534ms] [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 +2026-11-07T01:54:01Z [22,011ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x306cca20:World0.usd@ <0x3c7bab30>) + +2026-11-07T01:54:01Z [22,011ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x306cca20:World0.usd@ <0x3c7bab30>) + +[INFO]: Time taken for scene creation : 1.702848 seconds +[INFO]: Scene manager: + 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... +2026-11-07T01:54:02Z [22,908ms] [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 +2026-11-07T01:54:03Z [23,386ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:54:03Z [23,397ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:54:04Z [24,583ms] [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 +2026-11-07T01:54:04Z [24,583ms] [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 +2026-11-07T01:54:06Z [26,420ms] [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 : 7.968311 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,294ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,295ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,296ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:54:09Z [30,297ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-07T01:54:13Z [33,390ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:54:14Z [34,813ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/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}, 308 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 524 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 714 s +[COLLECT] batch 4: 60 ok / 4 failed so far, 54 saved, statuses {'OK': 60, 'GRASP_LOST': 4}, 899 s +[COLLECT] done: 54 episodes in data_local/sim_demos/abl_visual_p018 (60 successes, 4 failures) diff --git a/logs/abl_visual_p019.log b/logs/abl_visual_p019.log new file mode 100644 index 0000000000000000000000000000000000000000..c332732240d1b097313e82c0bfcc7e4b914e4b8c --- /dev/null +++ b/logs/abl_visual_p019.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_015444.log +2026-11-07T01:54:45Z [557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:45Z [557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:45Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T01:54:45Z [630ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T01:54:45Z [630ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T01:54:45Z [630ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T01:54:45Z [654ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 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. +2026-11-07T01:54:46Z [1,134ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:46Z [1,134ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:50Z [5,868ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:54:50Z [5,868ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,870ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:54:50Z [5,871ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,873ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:54:50Z [5,873ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,875ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:54:50Z [5,875ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T01:54:50Z [5,878ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T01:54:50Z [5,878ms] [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: 573276 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T01:54:58Z [13,826ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:58Z [13,826ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:59Z [14,240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:59Z [14,240ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:59Z [14,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:59Z [14,276ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:59Z [14,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:59Z [14,287ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:59Z [14,288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:59Z [14,288ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:59Z [14,288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T01:54:59Z [14,288ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T01:54:59Z [14,516ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T01:54:59Z [14,873ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T01:54:59Z [14,881ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T01:55:02Z [18,053ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T01:55:03Z [18,262ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T01:55:03Z [18,263ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T01:55:03Z [18,264ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T01:55:06Z [21,464ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T01:55:08Z [23,907ms] [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 +2026-11-07T01:55:11Z [26,321ms] [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 +2026-11-07T01:55:12Z [27,668ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2c8d1240:World0.usd@ <0x389f9990>) + +2026-11-07T01:55:12Z [27,669ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2c8d1240:World0.usd@ <0x389f9990>) + +[INFO]: Time taken for scene creation : 1.570495 seconds +[INFO]: Scene manager: + 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... +2026-11-07T01:55:13Z [28,579ms] [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 +2026-11-07T01:55:13Z [29,042ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:55:13Z [29,056ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:55:15Z [30,286ms] [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 +2026-11-07T01:55:15Z [30,286ms] [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 +2026-11-07T01:55:16Z [32,119ms] [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 : 8.464616 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,440ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,441ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,442ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T01:55:21Z [36,443ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-07T01:55:24Z [39,411ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T01:55:25Z [40,885ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/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}, 283 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 492 s +[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 708 s +[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 879 s +[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p019 (63 successes, 1 failures) diff --git a/logs/abl_visual_p020.log b/logs/abl_visual_p020.log new file mode 100644 index 0000000000000000000000000000000000000000..507a856fd52dff3526d894cfc7aff8ff12805e6c --- /dev/null +++ b/logs/abl_visual_p020.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_020820.log +2026-11-07T02:08:21Z [554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:21Z [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) +2026-11-07T02:08:21Z [625ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:08:21Z [633ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:08:21Z [634ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:08:21Z [634ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:08:21Z [650ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:08:22Z [1,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:22Z [1,071ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:26Z [5,372ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:08:26Z [5,373ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,374ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:08:26Z [5,374ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,375ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:08:26Z [5,375ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,376ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:08:26Z [5,376ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:08:26Z [5,377ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:08:26Z [5,377ms] [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: 499539 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:08:28Z [8,058ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:28Z [8,058ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:29Z [8,093ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:29Z [8,093ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:29Z [8,103ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:29Z [8,103ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:29Z [8,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:29Z [8,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:29Z [8,114ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:29Z [8,114ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:29Z [8,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:08:29Z [8,115ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:08:29Z [8,326ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:08:29Z [8,705ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:08:29Z [8,714ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:08:32Z [11,940ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:08:33Z [12,418ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:08:33Z [12,418ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:08:33Z [12,419ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:08:36Z [16,008ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:08:39Z [19,008ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:08:42Z [21,510ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:08:43Z [22,645ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1bfddd70:World0.usd@ <0x27049190>) + +2026-11-07T02:08:43Z [22,646ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1bfddd70:World0.usd@ <0x27049190>) + +[INFO]: Time taken for scene creation : 1.353319 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:08:44Z [23,516ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:08:44Z [23,909ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:08:44Z [23,922ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:08:46Z [25,112ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:08:46Z [25,112ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:08:47Z [26,717ms] [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 : 7.256874 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,174ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,175ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:08:51Z [30,176ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:08:53Z [32,576ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:08:54Z [33,570ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/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}, 349 s +[COLLECT] batch 2: 29 ok / 3 failed so far, 32 saved, statuses {'OK': 29, 'GRASP_LOST': 3}, 591 s +[COLLECT] batch 3: 44 ok / 4 failed so far, 48 saved, statuses {'OK': 44, 'GRASP_LOST': 4}, 786 s +[COLLECT] batch 4: 59 ok / 5 failed so far, 55 saved, statuses {'OK': 59, 'GRASP_LOST': 5}, 980 s +[COLLECT] done: 55 episodes in data_local/sim_demos/abl_visual_p020 (59 successes, 5 failures) diff --git a/logs/abl_visual_p021.log b/logs/abl_visual_p021.log new file mode 100644 index 0000000000000000000000000000000000000000..8b497830d98c7c0bd9ef094d18a80a2995c1f86e --- /dev/null +++ b/logs/abl_visual_p021.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_020935.log +2026-11-07T02:09:36Z [551ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:36Z [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) +2026-11-07T02:09:36Z [622ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:09:36Z [623ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:09:36Z [623ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:09:36Z [623ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:09:36Z [648ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:09:36Z [1,087ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:36Z [1,087ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:45Z [9,980ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:09:45Z [9,980ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,981ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:09:45Z [9,981ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,982ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:09:45Z [9,982ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,984ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:09:45Z [9,984ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:09:45Z [9,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:09:45Z [9,986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:09:45Z [9,986ms] [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: 528599 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:09:49Z [14,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:49Z [14,144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:49Z [14,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:49Z [14,192ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:49Z [14,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:49Z [14,203ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:49Z [14,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:49Z [14,214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:49Z [14,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:49Z [14,216ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:49Z [14,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:09:49Z [14,216ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:09:50Z [14,438ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:09:50Z [14,807ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:09:50Z [14,814ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:09:53Z [18,157ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:09:54Z [18,428ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:09:54Z [18,428ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:09:54Z [18,429ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:09:57Z [21,774ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:09:59Z [24,252ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:10:02Z [26,916ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:10:04Z [28,329ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1c220910:World0.usd@ <0x1c266480>) + +2026-11-07T02:10:04Z [28,329ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1c220910:World0.usd@ <0x1c266480>) + +[INFO]: Time taken for scene creation : 1.632158 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:10:04Z [29,213ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:10:05Z [29,674ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:10:05Z [29,685ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:10:06Z [30,962ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:10:06Z [30,962ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:10:08Z [32,777ms] [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 : 12.567866 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:10:16Z [41,197ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,197ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,198ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,199ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,200ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,200ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,200ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,200ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:16Z [41,200ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:10:19Z [44,231ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:10:21Z [45,548ms] [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}, 307 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 529 s +[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 745 s +[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 948 s +[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p021 (62 successes, 2 failures) diff --git a/logs/abl_visual_p022.log b/logs/abl_visual_p022.log new file mode 100644 index 0000000000000000000000000000000000000000..3596a1993a44c4461b3dfdd1fa6d79bb5bfd8675 --- /dev/null +++ b/logs/abl_visual_p022.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_021026.log +2026-11-07T02:10:26Z [560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:26Z [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) +2026-11-07T02:10:26Z [632ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:10:26Z [640ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:10:26Z [640ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:10:26Z [640ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:10:26Z [656ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:10:27Z [1,102ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:27Z [1,102ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:10:31Z [5,312ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:10:31Z [5,312ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:10:31Z [5,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,315ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:10:31Z [5,315ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,316ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:10:31Z [5,316ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:10:31Z [5,360ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:10:31Z [5,360ms] [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: 522192 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:10:33Z [7,939ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:33Z [7,939ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:10:33Z [7,974ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:33Z [7,974ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:10:34Z [7,986ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:34Z [7,986ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:10:34Z [7,996ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:34Z [7,996ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:10:34Z [7,997ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:34Z [7,997ms] [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) +2026-11-07T02:10:34Z [7,998ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:10:34Z [7,998ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:10:34Z [8,221ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:10:34Z [8,610ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:10:34Z [8,618ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:10:37Z [11,886ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:10:38Z [12,123ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:10:38Z [12,123ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:10:38Z [12,124ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:10:41Z [15,451ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:10:43Z [17,911ms] [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 +2026-11-07T02:10:46Z [20,750ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:10:48Z [22,241ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1c6bc940:World0.usd@ <0x1c724c40>) + +2026-11-07T02:10:48Z [22,241ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1c6bc940:World0.usd@ <0x1c724c40>) + +[INFO]: Time taken for scene creation : 1.695827 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:10:49Z [23,094ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:10:49Z [23,635ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:10:49Z [23,646ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:10:51Z [25,048ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:10:51Z [25,048ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:10:52Z [26,644ms] [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 : 7.969227 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:10:56Z [30,491ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,491ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,491ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,492ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,493ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,494ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:10:56Z [30,495ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:10:59Z [33,499ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:11:00Z [34,903ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/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}, 337 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 549 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 792 s +[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 980 s +[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p022 (62 successes, 2 failures) diff --git a/logs/abl_visual_p023.log b/logs/abl_visual_p023.log new file mode 100644 index 0000000000000000000000000000000000000000..031980f827ca752e16f2b542deaa8bf028ebc2de --- /dev/null +++ b/logs/abl_visual_p023.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_021216.log +2026-11-07T02:12:16Z [564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:16Z [565ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:12:16Z [634ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:12:16Z [636ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:12:16Z [636ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:12:16Z [636ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:12:16Z [662ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3833.75 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:12:17Z [1,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:17Z [1,085ms] [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) +2026-11-07T02:12:22Z [5,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:12:22Z [5,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [5,999ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [5,999ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,001ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,001ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,002ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,002ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:12:22Z [6,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:12:22Z [6,006ms] [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: 517500 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:12:23Z [7,774ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-07T02:12:24Z [8,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:24Z [8,555ms] [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) +2026-11-07T02:12:24Z [8,705ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:24Z [8,705ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:12:24Z [8,720ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:24Z [8,720ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:12:24Z [8,730ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:24Z [8,730ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:12:24Z [8,733ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:24Z [8,733ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:12:24Z [8,734ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:12:24Z [8,734ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:12:25Z [8,955ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:12:25Z [9,374ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:12:25Z [9,383ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:12:28Z [12,643ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:12:28Z [12,844ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:12:28Z [12,844ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:12:28Z [12,846ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:12:32Z [16,315ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:12:36Z [20,793ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:13:07Z [51,271ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:13:09Z [53,298ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x31cd4040:World0.usd@ <0x31d69b60>) + +2026-11-07T02:13:09Z [53,298ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x31cd4040:World0.usd@ <0x31d69b60>) + +[INFO]: Time taken for scene creation : 2.251783 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:13:10Z [54,307ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:13:11Z [55,011ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:13:11Z [55,026ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:13:12Z [56,723ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:13:12Z [56,723ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:13:18Z [62,113ms] [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 : 13.715165 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,322ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,323ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,324ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,325ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:13:23Z [67,326ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:13:26Z [70,850ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:13:28Z [72,877ms] [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: 14 ok / 2 failed so far, 16 saved, statuses {'OK': 14, 'GRASP_LOST': 2}, 629 s +[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 988 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1367 s +[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 1674 s +[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p023 (62 successes, 2 failures) diff --git a/logs/abl_visual_p024.log b/logs/abl_visual_p024.log new file mode 100644 index 0000000000000000000000000000000000000000..ab1fe83fa534ddd9e2bc4bfe0485c81d08802c26 --- /dev/null +++ b/logs/abl_visual_p024.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_021656.log +2026-11-07T02:16:57Z [570ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:16:57Z [570ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:16:57Z [641ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:16:57Z [650ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:16:57Z [651ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:16:57Z [651ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:16:57Z [667ms] [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. +2026-11-07T02:16:58Z [1,673ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:16:58Z [1,673ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:17:03Z [6,613ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:17:03Z [6,613ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,672ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,672ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,787ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,787ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,797ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,797ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,807ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,807ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:17:03Z [6,808ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:17:03Z [6,808ms] [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: 497830 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:17:05Z [8,769ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-07T02:17:06Z [9,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:17:06Z [9,555ms] [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) +2026-11-07T02:17:06Z [9,736ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:17:06Z [9,736ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:17:06Z [9,753ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:17:06Z [9,753ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:17:06Z [9,763ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:17:06Z [9,763ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:17:06Z [9,765ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:17:06Z [9,765ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:17:06Z [9,766ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:17:06Z [9,766ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:17:06Z [10,022ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:17:06Z [10,424ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:17:06Z [10,432ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:17:10Z [13,691ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:17:10Z [13,905ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:17:10Z [13,905ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:17:10Z [13,906ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:17:16Z [19,653ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:17:23Z [26,533ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:17:51Z [54,769ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:17:53Z [57,243ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x730a216cbfe0:World0.usd@ <0x730a20f3f000>) + +2026-11-07T02:17:53Z [57,243ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x730a216cbfe0:World0.usd@ <0x730a20f3f000>) + +[INFO]: Time taken for scene creation : 2.688325 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:17:54Z [58,216ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:17:55Z [59,099ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:17:55Z [59,122ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:17:57Z [61,094ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:17:57Z [61,094ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:18:02Z [65,520ms] [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 : 12.206225 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:18:06Z [69,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:18:06Z [69,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:18:11Z [74,790ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:18:13Z [76,780ms] [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}, 562 s +[COLLECT] batch 2: 29 ok / 3 failed so far, 32 saved, statuses {'OK': 29, 'GRASP_LOST': 3}, 892 s +[COLLECT] batch 3: 45 ok / 3 failed so far, 48 saved, statuses {'OK': 45, 'GRASP_LOST': 3}, 1173 s +[COLLECT] batch 4: 60 ok / 4 failed so far, 54 saved, statuses {'OK': 60, 'GRASP_LOST': 4}, 1564 s +[COLLECT] done: 54 episodes in data_local/sim_demos/abl_visual_p024 (60 successes, 4 failures) diff --git a/logs/abl_visual_p025.log b/logs/abl_visual_p025.log new file mode 100644 index 0000000000000000000000000000000000000000..2b130411a36f702c02ee207e72a1f311de0a801a --- /dev/null +++ b/logs/abl_visual_p025.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_021906.log +2026-11-07T02:19:06Z [557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:06Z [557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:06Z [627ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:19:06Z [629ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:19:06Z [629ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:19:06Z [629ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:19:06Z [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: 4000.02 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:19:07Z [1,021ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:07Z [1,021ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:09Z [3,022ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:19:09Z [3,022ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,025ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,025ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,027ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,027ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,030ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,030ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,033ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,033ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:09Z [3,034ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:09Z [3,034ms] [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: 499605 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:19:13Z [7,849ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-07T02:19:14Z [8,635ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:14Z [8,635ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:14Z [8,662ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:14Z [8,662ms] [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) +2026-11-07T02:19:14Z [8,677ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:14Z [8,677ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:14Z [8,688ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:14Z [8,688ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:14Z [8,689ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:14Z [8,689ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:14Z [8,690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:14Z [8,690ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:14Z [8,929ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:19:15Z [9,347ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:19:15Z [9,355ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:19:18Z [12,592ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:19:18Z [12,845ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:19:18Z [12,845ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:19:18Z [12,847ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:19:24Z [18,863ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:19:27Z [21,457ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:19:30Z [24,503ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3ec36ad0:World0.usd@ <0x77626ce1db70>) + +2026-11-07T02:19:30Z [24,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3ec36ad0:World0.usd@ <0x77626ce1db70>) + +[INFO]: Time taken for scene creation : 3.232944 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:19:31Z [25,436ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:19:32Z [26,238ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:19:32Z [26,252ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:19:34Z [28,158ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:19:34Z [28,158ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:19:35Z [29,952ms] [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 : 16.790552 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,580ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,581ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,582ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,583ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:19:47Z [41,584ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:19:53Z [47,605ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:19:54Z [48,748ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/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: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 544 s +[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 919 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1301 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1722 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p025 (61 successes, 3 failures) diff --git a/logs/abl_visual_p026.log b/logs/abl_visual_p026.log new file mode 100644 index 0000000000000000000000000000000000000000..371930b127588f07ff18af04aabfa23b1ed19579 --- /dev/null +++ b/logs/abl_visual_p026.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_021936.log +2026-11-07T02:19:36Z [557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:36Z [557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:36Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:19:36Z [638ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:19:36Z [638ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:19:36Z [638ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:19:36Z [663ms] [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. +2026-11-07T02:19:37Z [1,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:37Z [1,115ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:42Z [6,078ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:19:42Z [6,078ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,081ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,081ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,082ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,084ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,084ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:19:42Z [6,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:19:42Z [6,086ms] [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: 509247 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:19:44Z [8,000ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-07T02:19:44Z [8,743ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:44Z [8,743ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:44Z [8,785ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:44Z [8,785ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:44Z [8,799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:44Z [8,799ms] [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) +2026-11-07T02:19:44Z [8,810ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:44Z [8,810ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:44Z [8,811ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:44Z [8,811ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:44Z [8,812ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:19:44Z [8,812ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:19:45Z [9,033ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:19:45Z [9,411ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:19:45Z [9,419ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:19:48Z [12,741ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:19:48Z [12,912ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:19:48Z [12,912ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:19:48Z [12,913ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:19:52Z [16,324ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:19:56Z [19,960ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:20:25Z [49,396ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:20:27Z [51,703ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1b34ccb0:World0.usd@ <0x2748fa50>) + +2026-11-07T02:20:27Z [51,703ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1b34ccb0:World0.usd@ <0x2748fa50>) + +[INFO]: Time taken for scene creation : 2.505290 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:20:28Z [52,629ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:20:29Z [53,487ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:20:29Z [53,502ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:20:31Z [55,095ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:20:31Z [55,095ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:20:38Z [62,858ms] [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 : 15.658641 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:20:43Z [67,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:20:48Z [72,089ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:20:48Z [72,774ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/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}, 540 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 961 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1379 s +[COLLECT] batch 4: 59 ok / 5 failed so far, 55 saved, statuses {'OK': 59, 'GRASP_LOST': 5}, 1783 s +[COLLECT] done: 55 episodes in data_local/sim_demos/abl_visual_p026 (59 successes, 5 failures) diff --git a/logs/abl_visual_p027.log b/logs/abl_visual_p027.log new file mode 100644 index 0000000000000000000000000000000000000000..0b17cfe9c194ca03452a28a34661513bf52cee79 --- /dev/null +++ b/logs/abl_visual_p027.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_022532.log +2026-11-07T02:25:32Z [554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:32Z [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) +2026-11-07T02:25:32Z [627ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:25:32Z [628ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:25:32Z [628ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:25:32Z [628ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:25:32Z [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: 4164.09 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:25:33Z [991ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:33Z [991ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:25:37Z [5,499ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:25:37Z [5,499ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,501ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:25:37Z [5,501ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:25:37Z [5,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,510ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:25:37Z [5,510ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,512ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:25:37Z [5,512ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:25:37Z [5,513ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:25:37Z [5,513ms] [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: 522592 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:25:45Z [13,684ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:45Z [13,685ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:25:46Z [14,151ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:46Z [14,151ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:25:46Z [14,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:46Z [14,548ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:25:46Z [14,558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:46Z [14,558ms] [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) +2026-11-07T02:25:46Z [14,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:46Z [14,561ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:25:46Z [14,562ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:25:46Z [14,562ms] [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) +2026-11-07T02:25:46Z [14,798ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:25:47Z [15,166ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:25:47Z [15,174ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:25:50Z [18,320ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:25:50Z [18,573ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:25:50Z [18,573ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:25:50Z [18,575ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:25:53Z [21,892ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:25:58Z [26,467ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:26:27Z [55,623ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:26:29Z [57,026ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x203f65f0:World0.usd@ <0x2c51fa20>) + +2026-11-07T02:26:29Z [57,026ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x203f65f0:World0.usd@ <0x2c51fa20>) + +[INFO]: Time taken for scene creation : 1.612815 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:26:30Z [57,925ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:26:30Z [58,334ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:26:30Z [58,347ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:26:31Z [59,578ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:26:31Z [59,578ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:26:41Z [69,014ms] [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 : 15.610332 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,936ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,937ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,938ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,939ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,939ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,939ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,939ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:26:45Z [72,939ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:26:48Z [76,039ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:26:49Z [77,488ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/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}, 289 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 499 s +[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 718 s +2026-11-07T02:41:21Z [948,993ms] [Error] [omni.syntheticdata.plugin] OgnSdOnNewFrame : frames [1289|30, 1289|30] discarded +[COLLECT] batch 4: 60 ok / 4 failed so far, 54 saved, statuses {'OK': 60, 'GRASP_LOST': 4}, 929 s +[COLLECT] done: 54 episodes in data_local/sim_demos/abl_visual_p027 (60 successes, 4 failures) diff --git a/logs/abl_visual_p028.log b/logs/abl_visual_p028.log new file mode 100644 index 0000000000000000000000000000000000000000..18d89a6c82e8c1b2b21b5b4810feec40ddd109ee --- /dev/null +++ b/logs/abl_visual_p028.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_022631.log +2026-11-07T02:26:32Z [549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:32Z [549ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:32Z [616ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:26:32Z [617ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:26:32Z [617ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:26:32Z [617ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:26:32Z [642ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 4160.49 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:26:32Z [1,091ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:32Z [1,091ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:37Z [5,844ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:26:37Z [5,844ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,845ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:26:37Z [5,845ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,847ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:26:37Z [5,847ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,850ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:26:37Z [5,850ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,853ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:26:37Z [5,853ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:26:37Z [5,854ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:26:37Z [5,854ms] [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: 506391 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:26:40Z [8,280ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:40Z [8,280ms] [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) +2026-11-07T02:26:40Z [8,309ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:40Z [8,309ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:40Z [8,320ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:40Z [8,320ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:40Z [8,331ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:40Z [8,331ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:40Z [8,332ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:40Z [8,332ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:40Z [8,333ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:26:40Z [8,333ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:26:40Z [8,551ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:26:40Z [9,019ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:26:40Z [9,027ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:26:44Z [12,380ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:26:44Z [12,553ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:26:44Z [12,553ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:26:44Z [12,554ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:26:47Z [15,790ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:26:50Z [18,316ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:26:52Z [20,784ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:26:54Z [22,208ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x21b3a620:World0.usd@ <0x2dc656d0>) + +2026-11-07T02:26:54Z [22,208ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x21b3a620:World0.usd@ <0x2dc656d0>) + +[INFO]: Time taken for scene creation : 1.652214 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:26:55Z [23,153ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:26:55Z [23,685ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:26:55Z [23,701ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:26:56Z [25,052ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:26:56Z [25,052ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:26:58Z [26,817ms] [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 : 8.238923 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,760ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,761ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,762ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,763ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:27:02Z [30,764ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:27:08Z [37,061ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:27:09Z [38,068ms] [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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 257 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 430 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 630 s +[COLLECT] batch 4: 60 ok / 4 failed so far, 54 saved, statuses {'OK': 60, 'GRASP_LOST': 4}, 796 s +[COLLECT] done: 54 episodes in data_local/sim_demos/abl_visual_p028 (60 successes, 4 failures) diff --git a/logs/abl_visual_p029.log b/logs/abl_visual_p029.log new file mode 100644 index 0000000000000000000000000000000000000000..4f57846e965b83d09799ed4217ed1c983d7cd72a --- /dev/null +++ b/logs/abl_visual_p029.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_022742.log +2026-11-07T02:27:42Z [550ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:42Z [550ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:42Z [619ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:27:42Z [621ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:27:42Z [621ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:27:42Z [621ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:27:42Z [642ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.67 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:27:43Z [1,002ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:43Z [1,002ms] [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) +2026-11-07T02:27:44Z [2,668ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:27:44Z [2,668ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:44Z [2,721ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:27:44Z [2,721ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:44Z [2,772ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:27:44Z [2,772ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,225ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:27:47Z [5,226ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:27:47Z [5,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:27:47Z [5,230ms] [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: 509094 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:27:50Z [8,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:50Z [8,270ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:50Z [8,295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:50Z [8,295ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:50Z [8,305ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:50Z [8,305ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:50Z [8,315ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:50Z [8,315ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:50Z [8,316ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:50Z [8,316ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:50Z [8,317ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:27:50Z [8,317ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:27:50Z [8,548ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:27:51Z [8,971ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:27:51Z [8,980ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:27:54Z [12,202ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:27:54Z [12,387ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:27:54Z [12,387ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:27:54Z [12,388ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:27:57Z [15,638ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:28:00Z [18,081ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:28:02Z [20,530ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:28:04Z [21,890ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1b7afaa0:World0.usd@ <0x1b85b210>) + +2026-11-07T02:28:04Z [21,890ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1b7afaa0:World0.usd@ <0x1b85b210>) + +[INFO]: Time taken for scene creation : 1.582059 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:28:04Z [22,797ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:28:05Z [23,235ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:28:05Z [23,249ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:28:06Z [24,800ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:28:06Z [24,800ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:28:08Z [26,469ms] [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 : 8.046486 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:28:12Z [30,238ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,239ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,240ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,241ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,242ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,243ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,243ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:28:12Z [30,243ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:28:15Z [33,608ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:28:16Z [34,719ms] [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}, 300 s +[COLLECT] batch 2: 28 ok / 4 failed so far, 32 saved, statuses {'OK': 28, 'GRASP_LOST': 4}, 507 s +[COLLECT] batch 3: 42 ok / 6 failed so far, 48 saved, statuses {'OK': 42, 'GRASP_LOST': 6}, 693 s +[COLLECT] batch 4: 58 ok / 6 failed so far, 56 saved, statuses {'OK': 58, 'GRASP_LOST': 6}, 872 s +[COLLECT] done: 56 episodes in data_local/sim_demos/abl_visual_p029 (58 successes, 6 failures) diff --git a/logs/abl_visual_p030.log b/logs/abl_visual_p030.log new file mode 100644 index 0000000000000000000000000000000000000000..85c7f1b7a03e8c95c5d36432ef7a6a7184f1c8f1 --- /dev/null +++ b/logs/abl_visual_p030.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_024047.log +2026-11-07T02:40:48Z [561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:48Z [561ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:40:48Z [632ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:40:48Z [634ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:40:48Z [634ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:40:48Z [634ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:40:48Z [663ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.67 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:40:48Z [1,037ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:48Z [1,037ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:40:52Z [5,182ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:40:52Z [5,182ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:52Z [5,184ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:40:52Z [5,184ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,185ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:40:53Z [5,185ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,188ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:40:53Z [5,188ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,189ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:40:53Z [5,189ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:40:53Z [5,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:40:53Z [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 | | | 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: 491275 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:40:55Z [8,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:55Z [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) +2026-11-07T02:40:55Z [8,054ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:55Z [8,054ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:40:55Z [8,067ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:55Z [8,067ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:40:55Z [8,077ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:55Z [8,077ms] [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) +2026-11-07T02:40:55Z [8,078ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:55Z [8,078ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:40:55Z [8,079ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:40:55Z [8,079ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:40:56Z [8,305ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:40:56Z [8,688ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:40:56Z [8,697ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:40:59Z [12,080ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:41:00Z [12,255ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:41:00Z [12,255ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:41:00Z [12,256ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:41:03Z [15,542ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:41:05Z [18,049ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:41:08Z [20,730ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:41:10Z [22,231ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1962f980:World0.usd@ <0x256fe120>) + +2026-11-07T02:41:10Z [22,232ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1962f980:World0.usd@ <0x256fe120>) + +[INFO]: Time taken for scene creation : 1.706620 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:41:10Z [23,145ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:41:11Z [23,651ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:41:11Z [23,665ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:41:13Z [25,366ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:41:13Z [25,366ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:41:14Z [27,017ms] [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 : 8.294757 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,823ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,824ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,825ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,826ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,827ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:41:18Z [30,827ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:41:21Z [34,145ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:41:23Z [35,194ms] [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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 299 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 482 s +[COLLECT] batch 3: 48 ok / 0 failed so far, 48 saved, statuses {'OK': 48}, 662 s +[COLLECT] batch 4: 64 ok / 0 failed so far, 50 saved, statuses {'OK': 64}, 813 s +[COLLECT] done: 50 episodes in data_local/sim_demos/abl_visual_p030 (64 successes, 0 failures) diff --git a/logs/abl_visual_p031.log b/logs/abl_visual_p031.log new file mode 100644 index 0000000000000000000000000000000000000000..934b719d95dfe87ac1dceb128b487fb0dcc4eebd --- /dev/null +++ b/logs/abl_visual_p031.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_024152.log +2026-11-07T02:41:53Z [553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:41:53Z [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) +2026-11-07T02:41:53Z [625ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:41:53Z [627ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:41:53Z [627ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:41:53Z [627ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:41:53Z [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: 3997.67 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:41:54Z [1,076ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:41:54Z [1,076ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:41:56Z [3,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:41:56Z [3,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:56Z [3,261ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:56Z [3,261ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:56Z [3,263ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:56Z [3,263ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:56Z [3,265ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:56Z [3,265ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:58Z [5,681ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:58Z [5,681ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:41:58Z [5,683ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:41:58Z [5,683ms] [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: 500742 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:42:00Z [7,609ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-07T02:42:01Z [8,356ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:01Z [8,356ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:01Z [8,383ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:01Z [8,383ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:01Z [8,394ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:01Z [8,394ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:01Z [8,404ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:01Z [8,404ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:01Z [8,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:01Z [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) +2026-11-07T02:42:01Z [8,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:01Z [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) +2026-11-07T02:42:01Z [8,634ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:42:02Z [9,034ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:42:02Z [9,043ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:42:05Z [12,289ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:42:05Z [12,494ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:42:05Z [12,494ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:42:05Z [12,495ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:42:09Z [16,031ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:42:16Z [23,728ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:42:19Z [26,343ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:42:22Z [29,149ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x29976e70:World0.usd@ <0x29a1db50>) + +2026-11-07T02:42:22Z [29,149ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x29976e70:World0.usd@ <0x29a1db50>) + +[INFO]: Time taken for scene creation : 3.030685 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:42:23Z [30,145ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:42:24Z [31,024ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:42:24Z [31,040ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:42:26Z [33,080ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:42:26Z [33,080ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:42:28Z [35,018ms] [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 : 10.355359 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,834ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,835ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:42:32Z [39,836ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:42:37Z [44,756ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:42:39Z [46,588ms] [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: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 548 s +[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 984 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1383 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1716 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p031 (61 successes, 3 failures) diff --git a/logs/abl_visual_p032.log b/logs/abl_visual_p032.log new file mode 100644 index 0000000000000000000000000000000000000000..1dc6e8efa207101d3e8fc41418ffdcad302d570a --- /dev/null +++ b/logs/abl_visual_p032.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_024238.log +2026-11-07T02:42:38Z [563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:38Z [563ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:38Z [635ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:42:38Z [637ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:42:38Z [637ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:42:38Z [637ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:42:38Z [660ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.67 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:42:39Z [1,087ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:39Z [1,087ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:41Z [2,957ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:42:41Z [2,958ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [2,972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:42:41Z [2,972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [2,999ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:42:41Z [2,999ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:42:41Z [3,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,069ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:42:41Z [3,069ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,069ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:42:41Z [3,070ms] [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: 518212 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:42:50Z [11,917ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:50Z [11,917ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:50Z [12,047ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:50Z [12,047ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:50Z [12,060ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:50Z [12,060ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:50Z [12,070ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:50Z [12,070ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:50Z [12,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:50Z [12,071ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:50Z [12,072ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:42:50Z [12,072ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:42:50Z [12,289ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:42:50Z [12,716ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:42:50Z [12,724ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:42:54Z [15,981ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:42:54Z [16,253ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:42:54Z [16,253ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:42:54Z [16,254ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:42:57Z [19,465ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:43:00Z [21,818ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:43:02Z [24,198ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:43:03Z [25,669ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1fee1200:World0.usd@ <0x2bfaf3f0>) + +2026-11-07T02:43:03Z [25,670ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1fee1200:World0.usd@ <0x2bfaf3f0>) + +[INFO]: Time taken for scene creation : 1.683251 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:43:04Z [26,559ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:43:05Z [27,013ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:43:05Z [27,027ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:43:06Z [28,368ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:43:06Z [28,368ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:43:08Z [29,958ms] [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 : 14.128025 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,103ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,103ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:18Z [40,103ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:43:21Z [43,136ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:43:22Z [44,400ms] [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}, 260 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 478 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 694 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 866 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p032 (61 successes, 3 failures) diff --git a/logs/abl_visual_p033.log b/logs/abl_visual_p033.log new file mode 100644 index 0000000000000000000000000000000000000000..daac8c14caacd6cae82fc82f8d1fb184f1f1c559 --- /dev/null +++ b/logs/abl_visual_p033.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_024308.log +2026-11-07T02:43:08Z [549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:08Z [549ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:08Z [619ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:43:08Z [626ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:43:08Z [626ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:43:08Z [626ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:43:08Z [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: 3997.67 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:43:09Z [1,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:09Z [1,097ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:13Z [5,549ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:43:13Z [5,549ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,551ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:43:13Z [5,552ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,557ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:43:13Z [5,557ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,567ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:43:13Z [5,567ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,709ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:43:13Z [5,709ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:43:13Z [5,710ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:43:13Z [5,710ms] [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: 519991 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:43:16Z [8,082ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:16Z [8,083ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:16Z [8,120ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:16Z [8,120ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:16Z [8,133ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:16Z [8,133ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:16Z [8,143ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:16Z [8,143ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:16Z [8,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:16Z [8,144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:16Z [8,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:43:16Z [8,145ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:43:16Z [8,382ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:43:17Z [8,769ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:43:17Z [8,778ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:43:20Z [12,059ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:43:20Z [12,192ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:43:20Z [12,192ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:43:20Z [12,193ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:43:24Z [15,935ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:43:26Z [18,429ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:43:29Z [20,885ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:43:30Z [22,297ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3b0fb1f0:World0.usd@ <0x7007336bafd0>) + +2026-11-07T02:43:30Z [22,297ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3b0fb1f0:World0.usd@ <0x7007336bafd0>) + +[INFO]: Time taken for scene creation : 1.617967 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:43:31Z [23,189ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:43:32Z [23,724ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:43:32Z [23,735ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:43:33Z [25,237ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:43:33Z [25,237ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:43:35Z [26,887ms] [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 : 8.055363 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,643ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,644ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,645ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:43:38Z [30,646ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:43:42Z [33,956ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:43:43Z [35,037ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/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}, 304 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 499 s +[COLLECT] batch 3: 48 ok / 0 failed so far, 48 saved, statuses {'OK': 48}, 708 s +[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 911 s +[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p033 (63 successes, 1 failures) diff --git a/logs/abl_visual_p034.log b/logs/abl_visual_p034.log new file mode 100644 index 0000000000000000000000000000000000000000..1ea7c0a7196adbfc02042450617d68dd09ed7169 --- /dev/null +++ b/logs/abl_visual_p034.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_024448.log +2026-11-07T02:44:48Z [535ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:48Z [535ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:48Z [608ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:44:48Z [616ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:44:48Z [616ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:44:48Z [616ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:44:48Z [632ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 4000.01 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:44:49Z [1,042ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:49Z [1,042ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:51Z [2,844ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:44:51Z [2,844ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,860ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,860ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,923ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,923ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,928ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,928ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:44:51Z [2,929ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.126.09 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA A40 | | | 46068 MB | 10de | 0 | +| | | | | | 2235 | b8929e1f.. | +| | | | | | 1 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA A40 | Yes: 0 | | 46068 MB | 10de | 0 | +| | | | | | 2235 | 1767fd9e.. | +| | | | | | 21 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 | +| | | | | | 2231 | 2c2d41e2.. | +| | | | | | 81 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 | +| | | | | | 2231 | ea65648e.. | +| | | | | | a1 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 | +| | | | | | 2231 | cdbb4419.. | +| | | | | | c1 | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA RTX A5000 | | | 24810 MB | 10de | 0 | +| | | | | | 2231 | ab881203.. | +| | | | | | e1 | | +|=============================================================================================| +| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-138-generic +| Processor: AMD EPYC 9554 64-Core Processor +| Cores: 128 | Logical Cores: 128 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 773700 | Free Memory: 533317 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:44:55Z [7,444ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-07T02:44:56Z [8,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:56Z [8,205ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:56Z [8,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:56Z [8,237ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:56Z [8,250ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:56Z [8,250ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:56Z [8,260ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:56Z [8,260ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:56Z [8,261ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:56Z [8,261ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:56Z [8,262ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:44:56Z [8,262ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:44:56Z [8,476ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:44:57Z [8,820ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:44:57Z [8,829ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:45:00Z [12,093ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:45:00Z [12,274ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:45:00Z [12,274ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:45:00Z [12,275ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:45:04Z [15,754ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:45:11Z [23,400ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:45:14Z [25,900ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:45:16Z [28,449ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2dd920a0:World0.usd@ <0x2de1d9b0>) + +2026-11-07T02:45:16Z [28,450ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2dd920a0:World0.usd@ <0x2de1d9b0>) + +[INFO]: Time taken for scene creation : 2.764628 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:45:17Z [29,420ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:45:18Z [30,159ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:45:18Z [30,177ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:45:20Z [32,046ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:45:20Z [32,046ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:45:22Z [33,980ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (246, 139) is below minimal input resolution of 300. +[INFO]: Time taken for simulation start : 9.701860 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,428ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,429ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,430ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,431ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:45:26Z [38,431ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:45:31Z [43,046ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:45:33Z [45,226ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_floor + +[COLLECT] 16 envs, arm l, program block_pick_v1_nocomp.py sha 9f1c8b2d6170, params ['AZIMUTH_DEG', 'CLOSE_DELAY_S', 'LIFT', 'PREGRASP', 'RATE', 'TILT_DEG', 'VIA_XY', 'VIA_Z'], noise_scale 0.0, p_miss 0.0, TCP offset [-0.0, -0.0, -0.1661] +[COLLECT] batch 1: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 477 s +[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 872 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1235 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 1635 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p034 (61 successes, 3 failures) diff --git a/logs/abl_visual_p035.log b/logs/abl_visual_p035.log new file mode 100644 index 0000000000000000000000000000000000000000..40aa0ec847a8a828678cbae78f881489e4421e79 --- /dev/null +++ b/logs/abl_visual_p035.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_024912.log +2026-11-07T02:49:13Z [566ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:13Z [566ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:49:13Z [634ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:49:13Z [636ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:49:13Z [636ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:49:13Z [644ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:49:13Z [660ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3999.77 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-11-07T02:49:14Z [1,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:14Z [1,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:49:19Z [6,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:49:19Z [6,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,013ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,013ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,015ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,015ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,020ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,020ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,025ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,025ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:49:19Z [6,026ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:49:19Z [6,026ms] [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: 534482 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:49:20Z [7,725ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-07T02:49:21Z [8,491ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:21Z [8,492ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:49:21Z [8,532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:21Z [8,532ms] [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) +2026-11-07T02:49:21Z [8,546ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:21Z [8,546ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:49:21Z [8,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:21Z [8,557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:49:21Z [8,558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:21Z [8,558ms] [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) +2026-11-07T02:49:21Z [8,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:49:21Z [8,561ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:49:21Z [8,783ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:49:22Z [9,168ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:49:22Z [9,176ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:49:25Z [12,422ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:49:25Z [12,681ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:49:25Z [12,682ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:49:25Z [12,683ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:49:32Z [19,713ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:50:03Z [50,557ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:50:06Z [53,241ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2c369330:World0.usd@ <0x38450730>) + +2026-11-07T02:50:06Z [53,241ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x2c369330:World0.usd@ <0x38450730>) + +[INFO]: Time taken for scene creation : 2.916555 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:50:07Z [54,196ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:50:08Z [55,221ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:50:08Z [55,237ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:50:10Z [57,152ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:50:10Z [57,152ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:50:14Z [61,730ms] [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 : 12.397056 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:50:18Z [65,966ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,967ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,968ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:50:18Z [65,969ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:50:23Z [70,873ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:50:26Z [73,350ms] [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: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 510 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 875 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 1251 s +[COLLECT] batch 4: 62 ok / 2 failed so far, 52 saved, statuses {'OK': 62, 'GRASP_LOST': 2}, 1560 s +[COLLECT] done: 52 episodes in data_local/sim_demos/abl_visual_p035 (62 successes, 2 failures) diff --git a/logs/abl_visual_p036.log b/logs/abl_visual_p036.log new file mode 100644 index 0000000000000000000000000000000000000000..f75619e80014f656ad4ab61ac2499bd070edc5b4 --- /dev/null +++ b/logs/abl_visual_p036.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_025058.log +2026-11-07T02:50:58Z [530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:50:58Z [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) +2026-11-07T02:50:58Z [600ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:50:58Z [601ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:50:58Z [609ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:50:58Z [609ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:50:58Z [625ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3886.93 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. +2026-11-07T02:50:59Z [1,041ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:50:59Z [1,041ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:01Z [3,058ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:51:01Z [3,058ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:01Z [3,119ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:01Z [3,119ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:01Z [3,169ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:01Z [3,169ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,749ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:03Z [5,749ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,753ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:03Z [5,753ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:51:03Z [5,754ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:51:03Z [5,754ms] [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: 544744 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:51:05Z [7,404ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-07T02:51:06Z [8,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:51:06Z [8,196ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:06Z [8,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:51:06Z [8,220ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:06Z [8,231ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:51:06Z [8,231ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:06Z [8,241ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:51:06Z [8,241ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:06Z [8,242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:51:06Z [8,242ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:06Z [8,243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:51:06Z [8,243ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:51:06Z [8,455ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:51:06Z [8,817ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:51:06Z [8,825ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:51:10Z [12,016ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:51:10Z [12,235ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:51:10Z [12,235ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:51:10Z [12,236ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:51:13Z [15,605ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:51:16Z [18,086ms] [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 +2026-11-07T02:51:18Z [20,564ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:51:20Z [22,668ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x18d1d770:World0.usd@ <0x24e62460>) + +2026-11-07T02:51:20Z [22,668ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x18d1d770:World0.usd@ <0x24e62460>) + +[INFO]: Time taken for scene creation : 2.342072 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:51:21Z [23,815ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:51:22Z [24,727ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:51:22Z [24,741ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:51:24Z [26,591ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:51:24Z [26,591ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:51:28Z [30,605ms] [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 : 12.183421 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,179ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,180ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,181ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,182ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:51:33Z [35,182ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:51:39Z [41,240ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:51:40Z [42,595ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/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}, 489 s +[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 836 s +[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 1250 s +[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 1508 s +[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p036 (63 successes, 1 failures) diff --git a/logs/abl_visual_p037.log b/logs/abl_visual_p037.log new file mode 100644 index 0000000000000000000000000000000000000000..b67b0675a9728d64131ff38cd732b065ac2d4c67 --- /dev/null +++ b/logs/abl_visual_p037.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_025518.log +2026-11-07T02:55:19Z [533ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:19Z [533ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:55:19Z [606ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:55:19Z [607ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:55:19Z [607ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:55:19Z [607ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:55:19Z [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: 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. +2026-11-07T02:55:19Z [1,060ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:19Z [1,060ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:55:23Z [5,136ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:55:23Z [5,136ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,138ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:55:23Z [5,138ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,140ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:55:23Z [5,140ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,143ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:55:23Z [5,143ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,145ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:55:23Z [5,145ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:55:23Z [5,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:55:23Z [5,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:55:23Z [5,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:55:23Z [5,147ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:55:23Z [5,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:55:23Z [5,147ms] [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: 553353 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:55:26Z [8,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:26Z [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) +2026-11-07T02:55:26Z [8,051ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:26Z [8,051ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:55:26Z [8,062ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:26Z [8,062ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:55:26Z [8,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:26Z [8,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:55:26Z [8,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:26Z [8,074ms] [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) +2026-11-07T02:55:26Z [8,075ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:55:26Z [8,075ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:55:27Z [8,298ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:55:27Z [8,789ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:55:27Z [8,797ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:55:30Z [12,054ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:55:31Z [12,282ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:55:31Z [12,282ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:55:31Z [12,283ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:55:34Z [15,609ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:55:36Z [18,033ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:55:39Z [20,854ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:55:41Z [22,344ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1cafc300:World0.usd@ <0x28c23720>) + +2026-11-07T02:55:41Z [22,344ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1cafc300:World0.usd@ <0x28c23720>) + +[INFO]: Time taken for scene creation : 1.698414 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:55:41Z [23,235ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:55:42Z [23,696ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:55:42Z [23,710ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:55:43Z [25,115ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:55:43Z [25,115ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:55:48Z [30,198ms] [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 : 11.549644 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:55:52Z [34,193ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,193ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,193ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,193ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,193ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,193ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,194ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,195ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,196ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,196ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,196ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,196ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:55:52Z [34,196ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:55:55Z [37,195ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:55:57Z [38,697ms] [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: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 319 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 508 s +[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 714 s +[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 875 s +[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p037 (63 successes, 1 failures) diff --git a/logs/abl_visual_p038.log b/logs/abl_visual_p038.log new file mode 100644 index 0000000000000000000000000000000000000000..53a15a1bdf3325bfdd559f77d1752919def1e515 --- /dev/null +++ b/logs/abl_visual_p038.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_025809.log +2026-11-07T02:58:09Z [546ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:09Z [546ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:58:09Z [618ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:58:09Z [625ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:58:09Z [625ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:58:09Z [625ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:58:09Z [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: 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. +2026-11-07T02:58:10Z [1,003ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:10Z [1,003ms] [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) +2026-11-07T02:58:12Z [2,910ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:58:12Z [2,910ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,912ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:58:12Z [2,912ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,916ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:58:12Z [2,916ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,917ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:58:12Z [2,917ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,918ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:58:12Z [2,918ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:58:12Z [2,919ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:58:12Z [2,919ms] [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: 530379 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:58:17Z [7,989ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:17Z [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) +2026-11-07T02:58:17Z [8,021ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:17Z [8,021ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:58:17Z [8,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:17Z [8,034ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:58:17Z [8,044ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:17Z [8,044ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:58:17Z [8,045ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:17Z [8,045ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:58:17Z [8,046ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:58:17Z [8,046ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:58:17Z [8,255ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:58:17Z [8,595ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:58:17Z [8,603ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:58:21Z [11,908ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:58:21Z [12,119ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:58:21Z [12,119ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:58:21Z [12,121ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:58:24Z [15,477ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:58:27Z [18,103ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:58:29Z [20,715ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:58:31Z [22,214ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1afbe690:World0.usd@ <0x2708a730>) + +2026-11-07T02:58:31Z [22,214ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x1afbe690:World0.usd@ <0x2708a730>) + +[INFO]: Time taken for scene creation : 1.728182 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:58:32Z [23,183ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:58:32Z [23,637ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:58:32Z [23,648ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:58:34Z [24,949ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:58:34Z [24,949ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:58:35Z [26,569ms] [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 : 8.250815 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,782ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,783ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,784ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,785ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,786ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:58:40Z [30,786ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:58:43Z [34,093ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:58:44Z [35,614ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_floor + +[COLLECT] 16 envs, arm l, program block_pick_v1_nocomp.py sha 9f1c8b2d6170, params ['AZIMUTH_DEG', 'CLOSE_DELAY_S', 'LIFT', 'PREGRASP', 'RATE', 'TILT_DEG', 'VIA_XY', 'VIA_Z'], noise_scale 0.0, p_miss 0.0, TCP offset [-0.0, -0.0, -0.1661] +[COLLECT] batch 1: 15 ok / 1 failed so far, 16 saved, statuses {'OK': 15, 'GRASP_LOST': 1}, 299 s +[COLLECT] batch 2: 30 ok / 2 failed so far, 32 saved, statuses {'OK': 30, 'GRASP_LOST': 2}, 510 s +[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 731 s +[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 865 s +[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p038 (61 successes, 3 failures) diff --git a/logs/abl_visual_p039.log b/logs/abl_visual_p039.log new file mode 100644 index 0000000000000000000000000000000000000000..888dc9a9214e167df499ae6b0c5c13c803a82c98 --- /dev/null +++ b/logs/abl_visual_p039.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_025915.log +2026-11-07T02:59:15Z [526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:15Z [526ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:15Z [597ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T02:59:15Z [599ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T02:59:15Z [599ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T02:59:15Z [599ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T02:59:15Z [621ms] [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. +2026-11-07T02:59:16Z [957ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:16Z [957ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:20Z [5,082ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:59:20Z [5,082ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,084ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:59:20Z [5,084ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,131ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:59:20Z [5,131ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,132ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:59:20Z [5,132ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T02:59:20Z [5,135ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T02:59:20Z [5,135ms] [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: 528501 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T02:59:23Z [7,930ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:23Z [7,930ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:23Z [7,954ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:23Z [7,954ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:23Z [7,964ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:23Z [7,964ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:23Z [7,975ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:23Z [7,975ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:23Z [7,976ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:23Z [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) +2026-11-07T02:59:23Z [7,977ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T02:59:23Z [7,977ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T02:59:23Z [8,206ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T02:59:23Z [8,686ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T02:59:23Z [8,694ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T02:59:27Z [11,964ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T02:59:27Z [12,156ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T02:59:27Z [12,156ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T02:59:27Z [12,157ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T02:59:30Z [15,334ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T02:59:32Z [17,771ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-07T02:59:35Z [20,410ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. +[INFO]: Base environment: + Environment device : cuda:0 + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.06666666666666667 + Environment step-size : 0.06666666666666667 +2026-11-07T02:59:36Z [21,822ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x708f61a62a90:World0.usd@ <0x708b18ae1a20>) + +2026-11-07T02:59:36Z [21,822ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x708f61a62a90:World0.usd@ <0x708b18ae1a20>) + +[INFO]: Time taken for scene creation : 1.626140 seconds +[INFO]: Scene manager: + Number of environments: 16 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-11-07T02:59:37Z [22,700ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint +2026-11-07T02:59:38Z [23,133ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:59:38Z [23,145ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:59:39Z [24,494ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:59:39Z [24,494ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link +2026-11-07T02:59:41Z [26,084ms] [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 : 7.485623 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T02:59:44Z [29,605ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,606ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,607ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,608ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T02:59:44Z [29,609ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +[INFO]: Completed setting up the environment... +2026-11-07T02:59:48Z [32,933ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T02:59:48Z [33,874ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/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}, 264 s +[COLLECT] batch 2: 31 ok / 1 failed so far, 32 saved, statuses {'OK': 31, 'GRASP_LOST': 1}, 469 s +[COLLECT] batch 3: 47 ok / 1 failed so far, 48 saved, statuses {'OK': 47, 'GRASP_LOST': 1}, 681 s +[COLLECT] batch 4: 63 ok / 1 failed so far, 51 saved, statuses {'OK': 63, 'GRASP_LOST': 1}, 836 s +[COLLECT] done: 51 episodes in data_local/sim_demos/abl_visual_p039 (63 successes, 1 failures) diff --git a/logs/abl_visual_p040.log b/logs/abl_visual_p040.log new file mode 100644 index 0000000000000000000000000000000000000000..e5892bad015f8f8c43914d9860dee9cd56d21be1 --- /dev/null +++ b/logs/abl_visual_p040.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_031055.log +2026-11-07T03:10:55Z [534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:10:55Z [534ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:10:55Z [605ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-07T03:10:55Z [613ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-07T03:10:55Z [613ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-07T03:10:55Z [613ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-07T03:10:55Z [632ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 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. +2026-11-07T03:10:56Z [1,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:10:56Z [1,034ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:11:00Z [5,331ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T03:11:00Z [5,331ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,376ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T03:11:00Z [5,376ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,418ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T03:11:00Z [5,419ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,435ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T03:11:00Z [5,435ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,555ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T03:11:00Z [5,555ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-07T03:11:00Z [5,556ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-07T03:11:00Z [5,556ms] [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: 518009 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230 +|---------------------------------------------------------------------------------------------| +2026-11-07T03:11:02Z [7,926ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:11:02Z [7,927ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:11:03Z [7,957ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:11:03Z [7,957ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:11:03Z [7,968ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:11:03Z [7,968ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:11:03Z [7,978ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:11:03Z [7,978ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:11:03Z [7,979ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:11:03Z [7,979ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-07T03:11:03Z [7,980ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-07T03:11:03Z [7,980ms] [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) +2026-11-07T03:11:03Z [8,190ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-07T03:11:03Z [8,583ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-07T03:11:03Z [8,591ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-07T03:11:06Z [11,824ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-07T03:11:07Z [12,076ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-07T03:11:07Z [12,076ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-07T03:11:07Z [12,077ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-07T03:11:10Z [15,338ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-07T03:11:12Z [17,705ms] [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 +2026-11-07T03:11:15Z [20,057ms] [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 +2026-11-07T03:11:16Z [21,440ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3a7f5380:World0.usd@ <0x78a5a479fef0>) + +2026-11-07T03:11:16Z [21,440ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x3a7f5380:World0.usd@ <0x78a5a479fef0>) + +[INFO]: Time taken for scene creation : 1.617660 seconds +[INFO]: Scene manager: + 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... +2026-11-07T03:11:17Z [22,360ms] [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 +2026-11-07T03:11:17Z [22,814ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T03:11:17Z [22,825ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T03:11:19Z [24,077ms] [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 +2026-11-07T03:11:19Z [24,077ms] [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 +2026-11-07T03:11:20Z [25,690ms] [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 : 7.793451 seconds +[INFO] Command Manager: contains 2 active terms. ++----------------------------------------+ +| Active Command Terms | ++-------+-----------+--------------------+ +| Index | Name | Type | ++-------+-----------+--------------------+ +| 0 | ee_pose_l | UniformPoseCommand | +| 1 | ee_pose_r | UniformPoseCommand | ++-------+-----------+--------------------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: 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: 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: contains 1 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 2 active terms. ++--------------------------+ +| Active Curriculum Terms | ++---------+----------------+ +| Index | Name | ++---------+----------------+ +| 0 | action_rate | +| 1 | joint_vel | ++---------+----------------+ + +2026-11-07T03:11:24Z [29,551ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,551ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,551ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,551ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,552ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,553ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,554ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,555ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,555ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,555ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,555ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,555ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-07T03:11:24Z [29,555ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-07T03:11:30Z [34,935ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-07T03:11:30Z [35,899ms] [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: 14 ok / 2 failed so far, 16 saved, statuses {'OK': 14, 'GRASP_LOST': 2}, 294 s +[COLLECT] batch 2: 28 ok / 4 failed so far, 32 saved, statuses {'OK': 28, 'GRASP_LOST': 4}, 521 s +[COLLECT] batch 3: 42 ok / 6 failed so far, 48 saved, statuses {'OK': 42, 'GRASP_LOST': 6}, 767 s +[COLLECT] batch 4: 58 ok / 6 failed so far, 56 saved, statuses {'OK': 58, 'GRASP_LOST': 6}, 909 s +[COLLECT] done: 56 episodes in data_local/sim_demos/abl_visual_p040 (58 successes, 6 failures)