diff --git a/logs/vw10k_p155.log b/logs/vw10k_p155.log new file mode 100644 index 0000000000000000000000000000000000000000..0894a7c8432ef587a286d15c8d2335f7c54b2a73 --- /dev/null +++ b/logs/vw10k_p155.log @@ -0,0 +1,325 @@ +[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_20261108_182439.log +2026-11-08T18:24:39Z [560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:39Z [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) +2026-11-08T18:24:39Z [635ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:24:39Z [644ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:24:39Z [644ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:24:39Z [644ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:24:39Z [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: 3998.98 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. +2026-11-08T18:24:40Z [1,086ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:40Z [1,086ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:24:42Z [2,957ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:24:42Z [2,957ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,001ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,001ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,072ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,072ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,126ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,126ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,126ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:24:42Z [3,126ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,126ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,126ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,127ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,127ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:24:42Z [3,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:24:42Z [3,127ms] [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: 524288 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:24:53Z [14,631ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T18:24:54Z [15,809ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:54Z [15,809ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:24:55Z [15,993ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:55Z [15,993ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:24:55Z [16,006ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:55Z [16,006ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:24:55Z [16,016ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:55Z [16,016ms] [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) +2026-11-08T18:24:55Z [16,018ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:55Z [16,018ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:24:55Z [16,019ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:24:55Z [16,019ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:24:55Z [16,240ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:24:55Z [16,584ms] [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. +2026-11-08T18:24:55Z [16,592ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:24:58Z [19,816ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:24:59Z [20,036ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:24:59Z [20,036ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:24:59Z [20,037ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:25:02Z [23,440ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:25:07Z [28,146ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:25:36Z [57,920ms] [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 +2026-11-08T18:25:39Z [60,788ms] [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:0x21d9d780:World0.usd@ <0x2dee0920>) + +2026-11-08T18:25:39Z [60,788ms] [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:0x21d9d780:World0.usd@ <0x2dee0920>) + +[INFO]: Time taken for scene creation : 3.156782 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:25:40Z [61,813ms] [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 +2026-11-08T18:25:41Z [62,557ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:25:41Z [62,572ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:25:45Z [66,233ms] [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 +2026-11-08T18:25:45Z [66,233ms] [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 +2026-11-08T18:25:49Z [70,732ms] [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 : 16.226689 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 | ++---------+----------------+ + +2026-11-08T18:25:56Z [77,378ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,378ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,378ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,379ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,380ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,381ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,382ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,383ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,384ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,384ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,384ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,384ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,384ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:25:56Z [77,384ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T18:26:02Z [83,615ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:26:06Z [87,059ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 1 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 2 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 3 NOT_ON_TRAY: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 4 TILTED: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 174) +[ARMS] ep 5 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 6 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 7 PLACE_UNREACHABLE: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 8 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 145) +[ARMS] ep 9 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 10 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 11 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 12 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 13 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 14 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 15 HANDOVER_FAILED: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 16 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 17 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 142) +[ARMS] ep 18 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 19 MOVING: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 20 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 21 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 22 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 23 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[COLLECT] batch 1: 16 ok / 8 failed so far, 24 saved, statuses {'MOVING': 2, 'OK': 16, 'NOT_ON_TRAY': 1, 'TILTED': 1, 'PLACE_UNREACHABLE': 1, 'GRASP_LOST': 2, 'HANDOVER_FAILED': 1}, 1199 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p155 (16 successes, 8 failures) diff --git a/logs/vw10k_p157.log b/logs/vw10k_p157.log new file mode 100644 index 0000000000000000000000000000000000000000..d8c321fd32d8a8d5fc89b396ef4d179eef553972 --- /dev/null +++ b/logs/vw10k_p157.log @@ -0,0 +1,324 @@ +[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_20261108_182821.log +2026-11-08T18:28:21Z [552ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:21Z [552ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:28:22Z [622ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:28:22Z [623ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:28:22Z [623ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:28:22Z [623ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:28:22Z [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: 4165.09 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. +2026-11-08T18:28:22Z [1,055ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:22Z [1,055ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:28:23Z [2,393ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:28:23Z [2,393ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,394ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:28:23Z [2,394ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,396ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:28:23Z [2,396ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,398ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:28:23Z [2,398ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:28:23Z [2,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:28:23Z [2,400ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:28:23Z [2,400ms] [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: 534501 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:28:29Z [8,365ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:29Z [8,365ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:28:29Z [8,533ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:29Z [8,533ms] [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) +2026-11-08T18:28:29Z [8,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:29Z [8,544ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:28:29Z [8,554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:29Z [8,554ms] [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) +2026-11-08T18:28:29Z [8,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:29Z [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) +2026-11-08T18:28:29Z [8,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:28:29Z [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) +2026-11-08T18:28:30Z [8,776ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:28:30Z [9,146ms] [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. +2026-11-08T18:28:30Z [9,154ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:28:33Z [12,355ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:28:34Z [12,613ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:28:34Z [12,613ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:28:34Z [12,614ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:28:37Z [15,886ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:28:41Z [20,431ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:29:10Z [49,214ms] [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 +2026-11-08T18:29:12Z [50,651ms] [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:0x1d431bb0:World0.usd@ <0x2955b270>) + +2026-11-08T18:29:12Z [50,651ms] [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:0x1d431bb0:World0.usd@ <0x2955b270>) + +[INFO]: Time taken for scene creation : 1.814577 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:29:13Z [51,755ms] [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 +2026-11-08T18:29:13Z [52,208ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:29:13Z [52,220ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:29:15Z [54,539ms] [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 +2026-11-08T18:29:15Z [54,539ms] [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 +2026-11-08T18:29:20Z [58,650ms] [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 : 12.662826 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 | ++---------+----------------+ + +2026-11-08T18:29:25Z [63,732ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,732ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,732ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,732ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,732ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,732ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,733ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,734ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,735ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:29:25Z [63,736ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T18:29:28Z [66,636ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:29:29Z [68,545ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_20/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 1 OK: closest 4.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 2 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 3 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 4 OK: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 5 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 6 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 7 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 8 MOVING: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 9 CUP_TIPPED: closest 16.3 cm, arm_l_link7 <-> arm_r_link7 (l open, r idle, tick 82) +[ARMS] ep 10 OK: closest 4.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 238) +[ARMS] ep 11 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 12 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 13 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 14 MOVING: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 249) +[ARMS] ep 15 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 16 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 17 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 18 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 19 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 20 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 21 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 22 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 23 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[COLLECT] batch 1: 17 ok / 7 failed so far, 24 saved, statuses {'GRASP_LOST': 3, 'OK': 17, 'MOVING': 2, 'CUP_TIPPED': 2}, 687 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p157 (17 successes, 7 failures) diff --git a/logs/vw10k_p163.log b/logs/vw10k_p163.log new file mode 100644 index 0000000000000000000000000000000000000000..b4ac3009c5259f8368640b4d38da8a0d4cedd405 --- /dev/null +++ b/logs/vw10k_p163.log @@ -0,0 +1,324 @@ +[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_20261108_184256.log +2026-11-08T18:42:57Z [557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:42:57Z [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) +2026-11-08T18:42:57Z [622ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:42:57Z [623ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:42:57Z [623ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:42:57Z [623ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:42:57Z [645ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3999.25 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. +2026-11-08T18:42:57Z [991ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:42:57Z [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) +2026-11-08T18:42:58Z [2,246ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:42:58Z [2,246ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,247ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:42:58Z [2,247ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,249ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:42:58Z [2,249ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:42:58Z [2,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:42:58Z [2,251ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,252ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:42:58Z [2,252ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:42:58Z [2,252ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:42:58Z [2,252ms] [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: 542443 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:43:05Z [8,651ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:43:05Z [8,651ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:43:05Z [8,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:43:05Z [8,678ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:43:05Z [8,875ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:43:05Z [8,875ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:43:05Z [8,885ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:43:05Z [8,885ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:43:05Z [8,886ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:43:05Z [8,886ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:43:05Z [8,887ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:43:05Z [8,887ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:43:05Z [9,173ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:43:06Z [9,562ms] [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. +2026-11-08T18:43:06Z [9,573ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:43:09Z [12,849ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:43:09Z [13,037ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:43:09Z [13,037ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:43:09Z [13,039ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:43:12Z [16,248ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:43:15Z [18,707ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:43:17Z [20,928ms] [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 +2026-11-08T18:43:18Z [22,362ms] [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:0x3094a2f0:World0.usd@ <0x3ca71de0>) + +2026-11-08T18:43:18Z [22,362ms] [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:0x3094a2f0:World0.usd@ <0x3ca71de0>) + +[INFO]: Time taken for scene creation : 1.755717 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:43:19Z [23,364ms] [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 +2026-11-08T18:43:20Z [23,792ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:43:20Z [23,803ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:43:22Z [26,216ms] [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 +2026-11-08T18:43:22Z [26,216ms] [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 +2026-11-08T18:43:24Z [28,125ms] [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 : 10.463615 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 | ++---------+----------------+ + +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,223ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,224ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,225ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,225ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:43:29Z [33,225ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T18:43:32Z [36,094ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:43:34Z [37,956ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_20/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 MOVING: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 1 CUP_TIPPED: closest 12.6 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 56) +[ARMS] ep 2 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 3 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 4 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 5 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 6 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 7 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 8 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 148) +[ARMS] ep 9 CUP_TIPPED: closest 28.0 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 12) +[ARMS] ep 10 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 11 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 12 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 13 TILTED: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 14 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 15 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 165) +[ARMS] ep 16 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 17 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 18 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 19 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 20 OK: closest 4.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 21 NOT_ON_TRAY: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 22 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 190) +[ARMS] ep 23 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[COLLECT] batch 1: 12 ok / 12 failed so far, 24 saved, statuses {'MOVING': 1, 'CUP_TIPPED': 3, 'OK': 12, 'GRASP_LOST': 6, 'TILTED': 1, 'NOT_ON_TRAY': 1}, 764 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p163 (12 successes, 12 failures) diff --git a/logs/vw10k_p165.hung1.log b/logs/vw10k_p165.hung1.log new file mode 100644 index 0000000000000000000000000000000000000000..27c27fd8ae6a7969309692332189e35182c2167f --- /dev/null +++ b/logs/vw10k_p165.hung1.log @@ -0,0 +1,297 @@ +[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_20261108_184734.log +2026-11-08T18:47:35Z [568ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:35Z [568ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:47:35Z [636ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:47:35Z [637ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:47:35Z [637ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:47:35Z [637ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:47:35Z [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: 3999.25 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. +2026-11-08T18:47:36Z [1,125ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:36Z [1,125ms] [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) +2026-11-08T18:47:38Z [3,457ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:47:38Z [3,458ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,463ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,463ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,560ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,560ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,610ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,610ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,662ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,662ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:47:38Z [3,663ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:47:38Z [3,663ms] [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: 550885 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:47:43Z [8,419ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T18:47:44Z [9,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:44Z [9,144ms] [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) +2026-11-08T18:47:44Z [9,178ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:44Z [9,178ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:47:44Z [9,190ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:44Z [9,190ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:47:44Z [9,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:44Z [9,199ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:47:44Z [9,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:44Z [9,201ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:47:44Z [9,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:47:44Z [9,202ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:47:44Z [9,421ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:47:44Z [9,782ms] [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. +2026-11-08T18:47:44Z [9,791ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:47:48Z [12,996ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:47:48Z [13,266ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:47:48Z [13,266ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:47:48Z [13,268ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:47:51Z [16,597ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:47:54Z [19,191ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:47:56Z [21,513ms] [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 +2026-11-08T18:47:59Z [24,466ms] [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:0x3a3c7850:World0.usd@ <0x3a444760>) + +2026-11-08T18:47:59Z [24,466ms] [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:0x3a3c7850:World0.usd@ <0x3a444760>) + +[INFO]: Time taken for scene creation : 3.291655 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:48:00Z [25,526ms] [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 +2026-11-08T18:48:01Z [26,145ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:48:01Z [26,159ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:48:04Z [29,796ms] [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 +2026-11-08T18:48:04Z [29,796ms] [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 +2026-11-08T18:48:08Z [33,110ms] [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 : 14.909456 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 | ++---------+----------------+ + +2026-11-08T18:48:14Z [39,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,808ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,809ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,810ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:48:14Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T18:48:20Z [45,866ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:48:24Z [49,464ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_left + diff --git a/logs/vw10k_p165.log b/logs/vw10k_p165.log new file mode 100644 index 0000000000000000000000000000000000000000..9f0fcc2fe73b6fd2dea190862b391f638b1617f9 --- /dev/null +++ b/logs/vw10k_p165.log @@ -0,0 +1,325 @@ +[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_20261108_192923.log +2026-11-08T19:29:24Z [555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:24Z [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) +2026-11-08T19:29:24Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:29:24Z [630ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:29:24Z [630ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:29:24Z [630ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:29:24Z [679ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3989.39 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. +2026-11-08T19:29:33Z [10,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:33Z [10,096ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:34Z [10,688ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:29:34Z [10,688ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,691ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,691ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,695ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,695ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,697ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,697ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [10,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [10,699ms] [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: 543453 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:29:35Z [11,596ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T19:29:36Z [12,395ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:36Z [12,395ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:36Z [12,419ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:36Z [12,419ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:36Z [12,430ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:36Z [12,430ms] [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) +2026-11-08T19:29:36Z [12,439ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:36Z [12,439ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:36Z [12,440ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:36Z [12,440ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:36Z [12,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:36Z [12,441ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:36Z [12,657ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:29:36Z [12,985ms] [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. +2026-11-08T19:29:36Z [12,993ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:29:39Z [16,147ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:29:40Z [16,343ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:29:40Z [16,343ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:29:40Z [16,347ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:29:43Z [19,829ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:29:46Z [22,880ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:29:49Z [25,724ms] [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 +2026-11-08T19:29:52Z [28,522ms] [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:0x314320c0:World0.usd@ <0x3d518310>) + +2026-11-08T19:29:52Z [28,522ms] [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:0x314320c0:World0.usd@ <0x3d518310>) + +[INFO]: Time taken for scene creation : 3.142393 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:29:53Z [29,632ms] [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 +2026-11-08T19:29:54Z [30,680ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:29:54Z [30,696ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:29:57Z [34,061ms] [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 +2026-11-08T19:29:57Z [34,061ms] [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 +2026-11-08T19:30:00Z [36,272ms] [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 : 14.270739 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 | ++---------+----------------+ + +2026-11-08T19:30:06Z [43,235ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,235ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,235ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,235ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,236ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,237ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,238ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +2026-11-08T19:30:06Z [43,239ms] [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 +[INFO]: Completed setting up the environment... +2026-11-08T19:30:12Z [48,493ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:30:16Z [53,127ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_17/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 PLACE_UNREACHABLE: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 2 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 3 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 4 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 5 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 6 TILTED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 7 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 8 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 9 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 10 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 11 CUP_TIPPED: closest 25.7 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l2 (l close, r idle, tick 52) +[ARMS] ep 12 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 13 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 14 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 145) +[ARMS] ep 15 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 16 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 17 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 229) +[ARMS] ep 18 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 131) +[ARMS] ep 19 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 20 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 21 NOT_ON_TRAY: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 22 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 23 MOVING: closest 4.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[COLLECT] batch 1: 14 ok / 10 failed so far, 24 saved, statuses {'OK': 14, 'PLACE_UNREACHABLE': 1, 'MOVING': 3, 'TILTED': 1, 'CUP_TIPPED': 1, 'GRASP_LOST': 3, 'NOT_ON_TRAY': 1}, 1546 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p165 (14 successes, 10 failures) diff --git a/logs/vw10k_p166.log b/logs/vw10k_p166.log new file mode 100644 index 0000000000000000000000000000000000000000..315143534b871fed8c2ec30c09536da0cbea540c --- /dev/null +++ b/logs/vw10k_p166.log @@ -0,0 +1,325 @@ +[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_20261108_185225.log +2026-11-08T18:52:26Z [557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:26Z [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) +2026-11-08T18:52:26Z [630ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:52:26Z [631ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:52:26Z [631ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:52:26Z [631ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:52:26Z [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: 3999.25 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. +2026-11-08T18:52:26Z [1,066ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:26Z [1,067ms] [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) +2026-11-08T18:52:28Z [3,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:52:28Z [3,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,307ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,307ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,311ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,311ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,318ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,318ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:52:28Z [3,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:52:28Z [3,319ms] [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: 538817 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:52:33Z [8,446ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T18:52:34Z [9,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:34Z [9,224ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:52:34Z [9,264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:34Z [9,264ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:52:34Z [9,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:34Z [9,276ms] [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) +2026-11-08T18:52:34Z [9,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:34Z [9,285ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:52:34Z [9,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:34Z [9,287ms] [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) +2026-11-08T18:52:34Z [9,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:52:34Z [9,287ms] [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) +2026-11-08T18:52:35Z [9,513ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:52:35Z [9,879ms] [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. +2026-11-08T18:52:35Z [9,887ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:52:38Z [13,046ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:52:38Z [13,279ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:52:38Z [13,279ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:52:38Z [13,280ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:52:42Z [16,505ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:52:44Z [19,032ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:52:46Z [21,467ms] [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 +2026-11-08T18:52:48Z [23,338ms] [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:0x1e7bedd0:World0.usd@ <0x1e870ab0>) + +2026-11-08T18:52:48Z [23,338ms] [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:0x1e7bedd0:World0.usd@ <0x1e870ab0>) + +[INFO]: Time taken for scene creation : 2.201107 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:52:49Z [24,415ms] [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 +2026-11-08T18:52:50Z [25,104ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:52:50Z [25,114ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:52:53Z [28,124ms] [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 +2026-11-08T18:52:53Z [28,124ms] [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 +2026-11-08T18:52:55Z [30,255ms] [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 : 12.532350 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 | ++---------+----------------+ + +2026-11-08T18:53:01Z [36,285ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,285ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,285ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,285ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,286ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,287ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,288ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,289ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,290ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,291ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,291ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,291ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,291ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:01Z [36,291ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T18:53:06Z [40,796ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:53:08Z [43,368ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 TILTED: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 123) +[ARMS] ep 2 MOVING: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 3 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 4 NOT_ON_TRAY: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 5 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 6 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 7 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 8 MOVING: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 9 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 149) +[ARMS] ep 10 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 11 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[ARMS] ep 12 PLACE_UNREACHABLE: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 13 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 122) +[ARMS] ep 14 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 15 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 16 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 17 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 18 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 19 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 20 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 123) +[ARMS] ep 21 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 22 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 23 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 151) +[COLLECT] batch 1: 12 ok / 12 failed so far, 24 saved, statuses {'TILTED': 1, 'GRASP_LOST': 7, 'MOVING': 2, 'OK': 12, 'NOT_ON_TRAY': 1, 'PLACE_UNREACHABLE': 1}, 964 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p166 (12 successes, 12 failures) diff --git a/logs/vw10k_p167.log b/logs/vw10k_p167.log new file mode 100644 index 0000000000000000000000000000000000000000..b805b0489771d0dbe249805b53a88bb305cf9676 --- /dev/null +++ b/logs/vw10k_p167.log @@ -0,0 +1,324 @@ +[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_20261108_185308.log +2026-11-08T18:53:09Z [559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:09Z [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) +2026-11-08T18:53:09Z [633ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:53:09Z [640ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:53:09Z [640ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:53:09Z [640ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:53:09Z [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: 3999.25 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. +2026-11-08T18:53:09Z [1,058ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:09Z [1,058ms] [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) +2026-11-08T18:53:11Z [2,967ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:53:11Z [2,967ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [2,968ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:53:11Z [2,968ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [2,969ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:53:11Z [2,969ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,020ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:53:11Z [3,020ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,021ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:53:11Z [3,022ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,022ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:53:11Z [3,022ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:53:11Z [3,022ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:53:11Z [3,022ms] [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: 548660 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:53:17Z [8,549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:17Z [8,549ms] [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) +2026-11-08T18:53:17Z [8,573ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:17Z [8,573ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:53:17Z [8,585ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:17Z [8,585ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:53:17Z [8,594ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:17Z [8,594ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:53:17Z [8,596ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:17Z [8,596ms] [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) +2026-11-08T18:53:17Z [8,596ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:53:17Z [8,596ms] [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) +2026-11-08T18:53:17Z [8,821ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:53:17Z [9,212ms] [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. +2026-11-08T18:53:17Z [9,221ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:53:20Z [12,474ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:53:21Z [12,730ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:53:21Z [12,730ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:53:21Z [12,732ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:53:24Z [16,074ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:53:26Z [18,492ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:53:29Z [20,810ms] [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 +2026-11-08T18:53:30Z [22,197ms] [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:0x3c8ae250:World0.usd@ <0x7d55063a3c80>) + +2026-11-08T18:53:30Z [22,197ms] [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:0x3c8ae250:World0.usd@ <0x7d55063a3c80>) + +[INFO]: Time taken for scene creation : 1.712001 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:53:31Z [23,193ms] [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 +2026-11-08T18:53:32Z [23,612ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:53:32Z [23,624ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:53:34Z [26,070ms] [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 +2026-11-08T18:53:34Z [26,070ms] [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 +2026-11-08T18:53:36Z [27,944ms] [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 : 10.440012 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 | ++---------+----------------+ + +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,041ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,042ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,043ms] [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 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,044ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,045ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +2026-11-08T18:53:41Z [33,046ms] [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 +[INFO]: Completed setting up the environment... +2026-11-08T18:53:43Z [35,528ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:53:46Z [37,742ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 PLACE_UNREACHABLE: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 235) +[ARMS] ep 2 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 3 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 4 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 5 TILTED: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 6 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 7 GRASP_LOST: closest 12.9 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 92) +[ARMS] ep 8 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 211) +[ARMS] ep 9 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 10 OK: closest 4.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 11 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 12 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 13 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 14 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 15 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 16 TILTED: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 17 NOT_ON_TRAY: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 18 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 19 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 20 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 142) +[ARMS] ep 21 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 149) +[ARMS] ep 22 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 23 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'PLACE_UNREACHABLE': 1, 'TILTED': 2, 'GRASP_LOST': 4, 'NOT_ON_TRAY': 1, 'MOVING': 1}, 655 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p167 (15 successes, 9 failures) diff --git a/logs/vw10k_p168.log b/logs/vw10k_p168.log new file mode 100644 index 0000000000000000000000000000000000000000..9e32c9382fc6a6b2e22bdf7b738b85ad58f38e87 --- /dev/null +++ b/logs/vw10k_p168.log @@ -0,0 +1,324 @@ +[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_20261108_185637.log +2026-11-08T18:56:38Z [551ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:38Z [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) +2026-11-08T18:56:38Z [619ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T18:56:38Z [620ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T18:56:38Z [620ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T18:56:38Z [620ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T18:56:38Z [644ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3999.25 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. +2026-11-08T18:56:38Z [1,054ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:38Z [1,054ms] [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) +2026-11-08T18:56:40Z [2,537ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:56:40Z [2,538ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,539ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:56:40Z [2,539ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,543ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:56:40Z [2,543ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,544ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:56:40Z [2,544ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,590ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:56:40Z [2,590ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T18:56:40Z [2,591ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T18:56:40Z [2,591ms] [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: 547343 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T18:56:46Z [8,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:46Z [8,678ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:56:46Z [8,712ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:46Z [8,712ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:56:46Z [8,722ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:46Z [8,722ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T18:56:46Z [8,732ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:46Z [8,732ms] [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) +2026-11-08T18:56:46Z [8,733ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:46Z [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) +2026-11-08T18:56:46Z [8,734ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T18:56:46Z [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) +2026-11-08T18:56:46Z [8,971ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T18:56:46Z [9,333ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-08T18:56:46Z [9,341ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T18:56:50Z [12,534ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T18:56:50Z [12,761ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T18:56:50Z [12,761ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T18:56:50Z [12,762ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T18:56:53Z [16,045ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T18:56:56Z [18,569ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T18:56:58Z [20,983ms] [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 +2026-11-08T18:56:59Z [22,390ms] [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:0x14bd21b0:World0.usd@ <0x20c9f220>) + +2026-11-08T18:56:59Z [22,390ms] [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:0x14bd21b0:World0.usd@ <0x20c9f220>) + +[INFO]: Time taken for scene creation : 1.731489 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T18:57:00Z [23,423ms] [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 +2026-11-08T18:57:01Z [23,833ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:57:01Z [23,844ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:57:03Z [26,129ms] [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 +2026-11-08T18:57:03Z [26,129ms] [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 +2026-11-08T18:57:05Z [28,236ms] [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 : 10.539065 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 | ++---------+----------------+ + +2026-11-08T18:57:10Z [33,332ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,332ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,332ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,332ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,333ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,334ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,335ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,336ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,337ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T18:57:10Z [33,338ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T18:57:13Z [36,215ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T18:57:15Z [38,130ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_18/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 2 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 3 MOVING: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 4 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 5 MOVING: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 6 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 7 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 145) +[ARMS] ep 8 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 9 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 233) +[ARMS] ep 10 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 11 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 12 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 13 OK: closest 4.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 14 PLACE_UNREACHABLE: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 15 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 16 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 17 TILTED: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 18 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 19 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 20 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 21 HANDOVER_FAILED: closest 6.0 cm, gripper_l_rh_p12_rn_l2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 22 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 23 PLACE_UNREACHABLE: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[COLLECT] batch 1: 16 ok / 8 failed so far, 24 saved, statuses {'OK': 16, 'MOVING': 2, 'CUP_TIPPED': 1, 'GRASP_LOST': 1, 'PLACE_UNREACHABLE': 2, 'TILTED': 1, 'HANDOVER_FAILED': 1}, 617 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p168 (16 successes, 8 failures) diff --git a/logs/vw10k_p170.log b/logs/vw10k_p170.log new file mode 100644 index 0000000000000000000000000000000000000000..8305013b748a053ee69b417d193153f2392fe291 --- /dev/null +++ b/logs/vw10k_p170.log @@ -0,0 +1,324 @@ +[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_20261108_190459.log +2026-11-08T19:04:59Z [563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:04:59Z [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) +2026-11-08T19:05:00Z [635ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:05:00Z [636ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:05:00Z [636ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:05:00Z [636ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:05:00Z [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: 3999.25 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. +2026-11-08T19:05:00Z [1,003ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:00Z [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) +2026-11-08T19:05:01Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:05:01Z [2,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,318ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:05:01Z [2,318ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:05:01Z [2,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,321ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:05:01Z [2,321ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:05:01Z [2,322ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:05:01Z [2,322ms] [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: 525075 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:05:08Z [8,610ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:08Z [8,610ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:05:08Z [8,751ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:08Z [8,751ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:05:08Z [8,764ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:08Z [8,764ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:05:08Z [8,773ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:08Z [8,773ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:05:08Z [8,776ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:08Z [8,776ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:05:08Z [8,777ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:05:08Z [8,777ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:05:08Z [9,005ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:05:08Z [9,369ms] [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. +2026-11-08T19:05:08Z [9,377ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:05:12Z [12,595ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:05:12Z [12,823ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:05:12Z [12,823ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:05:12Z [12,824ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:05:15Z [16,146ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:05:20Z [20,740ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:05:49Z [49,819ms] [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 +2026-11-08T19:05:50Z [51,171ms] [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:0x700127130390:World0.usd@ <0x6ffca6dfbf40>) + +2026-11-08T19:05:50Z [51,171ms] [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:0x700127130390:World0.usd@ <0x6ffca6dfbf40>) + +[INFO]: Time taken for scene creation : 1.634991 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:05:51Z [52,155ms] [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 +2026-11-08T19:05:52Z [52,583ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:05:52Z [52,594ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:05:54Z [54,909ms] [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 +2026-11-08T19:05:54Z [54,909ms] [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 +2026-11-08T19:05:58Z [58,873ms] [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 : 12.205588 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 | ++---------+----------------+ + +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,716ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,717ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,718ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,719ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,720ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,721ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:06:03Z [63,722ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:06:05Z [66,462ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:06:07Z [68,294ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_18/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 2 NOT_ON_TRAY: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 3 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 4 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 5 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 6 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 7 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 8 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 9 GRASP_LOST: closest 12.4 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 93) +[ARMS] ep 10 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 11 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 12 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 13 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 14 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 15 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 16 PLACE_UNREACHABLE: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 17 OK: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 18 PLACE_UNREACHABLE: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 19 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 20 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 21 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 22 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 139) +[ARMS] ep 23 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[COLLECT] batch 1: 17 ok / 7 failed so far, 24 saved, statuses {'OK': 17, 'NOT_ON_TRAY': 1, 'CUP_TIPPED': 1, 'GRASP_LOST': 3, 'PLACE_UNREACHABLE': 2}, 674 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p170 (17 successes, 7 failures) diff --git a/logs/vw10k_p172.log b/logs/vw10k_p172.log new file mode 100644 index 0000000000000000000000000000000000000000..5d845cb425de59c5023c5eb647f550d6b423fc85 --- /dev/null +++ b/logs/vw10k_p172.log @@ -0,0 +1,325 @@ +[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_20261108_190753.log +2026-11-08T19:07:53Z [563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:07:53Z [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) +2026-11-08T19:07:54Z [632ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:07:54Z [633ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:07:54Z [633ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:07:54Z [633ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:07:54Z [1,447ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.81 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. +2026-11-08T19:07:58Z [4,840ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:07:58Z [4,840ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:03Z [9,673ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:08:03Z [9,673ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,675ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,675ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,676ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,676ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,677ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,677ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:03Z [9,678ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:03Z [9,678ms] [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: 554732 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:08:03Z [10,100ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T19:08:04Z [10,789ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:04Z [10,789ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:04Z [10,814ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:04Z [10,814ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:04Z [10,823ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:04Z [10,823ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:04Z [10,833ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:04Z [10,833ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:04Z [10,834ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:04Z [10,834ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:04Z [10,835ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:04Z [10,835ms] [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) +2026-11-08T19:08:04Z [11,045ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:08:04Z [11,529ms] [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. +2026-11-08T19:08:04Z [11,537ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:08:08Z [14,734ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:08:08Z [14,926ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:08:08Z [14,926ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:08:08Z [14,927ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:08:11Z [18,056ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:08:13Z [20,489ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:08:16Z [22,783ms] [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 +2026-11-08T19:08:17Z [24,188ms] [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:0x3a68e4f0:World0.usd@ <0x75908ff479b0>) + +2026-11-08T19:08:17Z [24,188ms] [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:0x3a68e4f0:World0.usd@ <0x75908ff479b0>) + +[INFO]: Time taken for scene creation : 1.727123 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:08:18Z [25,159ms] [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 +2026-11-08T19:08:19Z [25,592ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:08:19Z [25,603ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:08:21Z [27,983ms] [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 +2026-11-08T19:08:21Z [27,984ms] [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 +2026-11-08T19:08:23Z [29,919ms] [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 : 11.270889 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 | ++---------+----------------+ + +2026-11-08T19:08:29Z [35,851ms] [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 +2026-11-08T19:08:29Z [35,851ms] [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 +2026-11-08T19:08:29Z [35,851ms] [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 +2026-11-08T19:08:29Z [35,851ms] [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 +2026-11-08T19:08:29Z [35,851ms] [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 +2026-11-08T19:08:29Z [35,851ms] [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 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,852ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:08:29Z [35,857ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:08:33Z [40,000ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:08:36Z [43,398ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_18/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 1 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 2 MOVING: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 3 MOVING: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 256) +[ARMS] ep 4 HANDOVER_FAILED: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 5 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 6 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 7 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 8 CUP_TIPPED: closest 27.2 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 13) +[ARMS] ep 9 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 10 OK: closest 4.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 11 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 151) +[ARMS] ep 12 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 13 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 265) +[ARMS] ep 14 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 15 CUP_TIPPED: closest 28.2 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 4) +[ARMS] ep 16 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 17 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 18 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 19 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 20 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 21 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 22 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 23 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[COLLECT] batch 1: 18 ok / 6 failed so far, 24 saved, statuses {'OK': 18, 'MOVING': 2, 'HANDOVER_FAILED': 1, 'CUP_TIPPED': 2, 'GRASP_LOST': 1}, 1526 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p172 (18 successes, 6 failures) diff --git a/logs/vw10k_p173.log b/logs/vw10k_p173.log new file mode 100644 index 0000000000000000000000000000000000000000..8493ae115632ef9f339318e28b082ee9cd56b28b --- /dev/null +++ b/logs/vw10k_p173.log @@ -0,0 +1,325 @@ +[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_20261108_190839.log +2026-11-08T19:08:40Z [561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:40Z [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) +2026-11-08T19:08:40Z [635ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:08:40Z [637ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:08:40Z [637ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:08:40Z [637ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:08:40Z [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: 3997.81 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. +2026-11-08T19:08:40Z [1,024ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:40Z [1,024ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:42Z [2,785ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:08:42Z [2,785ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,789ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,789ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,792ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,792ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,794ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,794ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:08:42Z [2,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:08:42Z [2,795ms] [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: 553188 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:08:47Z [8,164ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T19:08:48Z [8,957ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:48Z [8,957ms] [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) +2026-11-08T19:08:48Z [9,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:48Z [9,099ms] [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) +2026-11-08T19:08:48Z [9,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:48Z [9,112ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:48Z [9,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:48Z [9,122ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:48Z [9,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:48Z [9,124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:08:48Z [9,125ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:08:48Z [9,125ms] [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) +2026-11-08T19:08:48Z [9,349ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:08:49Z [9,762ms] [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. +2026-11-08T19:08:49Z [9,770ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:08:52Z [12,998ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:08:52Z [13,162ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:08:52Z [13,162ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:08:52Z [13,163ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:08:56Z [16,388ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:09:00Z [20,916ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:09:29Z [50,154ms] [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 +2026-11-08T19:09:31Z [52,037ms] [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:0x39e12c90:World0.usd@ <0x710694775d60>) + +2026-11-08T19:09:31Z [52,037ms] [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:0x39e12c90:World0.usd@ <0x710694775d60>) + +[INFO]: Time taken for scene creation : 2.181742 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:09:32Z [53,118ms] [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 +2026-11-08T19:09:33Z [53,830ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:09:33Z [53,844ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:09:36Z [56,702ms] [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 +2026-11-08T19:09:36Z [56,702ms] [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 +2026-11-08T19:09:44Z [65,075ms] [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 : 19.369700 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 | ++---------+----------------+ + +2026-11-08T19:09:51Z [71,796ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,796ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,796ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,796ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,797ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,798ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,799ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,800ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:09:51Z [71,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:09:58Z [79,022ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:10:00Z [80,984ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_19/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 2 PLACE_UNREACHABLE: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 174) +[ARMS] ep 3 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 4 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 5 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 6 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 7 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 8 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 9 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 10 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 136) +[ARMS] ep 11 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 12 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 13 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 14 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 15 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 16 MOVING: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 17 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 18 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[ARMS] ep 19 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 20 CUP_TIPPED: closest 28.2 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 5) +[ARMS] ep 21 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 22 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 23 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[COLLECT] batch 1: 17 ok / 7 failed so far, 24 saved, statuses {'OK': 17, 'PLACE_UNREACHABLE': 1, 'GRASP_LOST': 4, 'MOVING': 1, 'CUP_TIPPED': 1}, 1555 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p173 (17 successes, 7 failures) diff --git a/logs/vw10k_p176.log b/logs/vw10k_p176.log new file mode 100644 index 0000000000000000000000000000000000000000..524a3b86ed7060fa8386268f9c0d8f7ad2caeb75 --- /dev/null +++ b/logs/vw10k_p176.log @@ -0,0 +1,324 @@ +[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_20261108_191740.log +2026-11-08T19:17:40Z [524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:40Z [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) +2026-11-08T19:17:40Z [595ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:17:40Z [600ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:17:40Z [600ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:17:40Z [600ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:17:40Z [615ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3989.39 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. +2026-11-08T19:17:41Z [961ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:41Z [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) +2026-11-08T19:17:42Z [2,206ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:17:42Z [2,206ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,252ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:17:42Z [2,252ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,253ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:17:42Z [2,253ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,256ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:17:42Z [2,256ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,257ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:17:42Z [2,257ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:17:42Z [2,258ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:17:42Z [2,258ms] [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: 545578 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:17:48Z [8,357ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:48Z [8,357ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:17:48Z [8,380ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:48Z [8,380ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:17:48Z [8,390ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:48Z [8,390ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:17:48Z [8,400ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:48Z [8,400ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:17:48Z [8,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:48Z [8,401ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:17:48Z [8,402ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:17:48Z [8,402ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:17:48Z [8,614ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:17:49Z [9,092ms] [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. +2026-11-08T19:17:49Z [9,100ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:17:52Z [12,352ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:17:52Z [12,610ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:17:52Z [12,610ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:17:52Z [12,611ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:17:56Z [15,837ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:17:58Z [18,304ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:18:00Z [20,656ms] [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 +2026-11-08T19:18:02Z [22,114ms] [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:0x15679860:World0.usd@ <0x217a0db0>) + +2026-11-08T19:18:02Z [22,115ms] [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:0x15679860:World0.usd@ <0x217a0db0>) + +[INFO]: Time taken for scene creation : 1.790039 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:18:03Z [23,127ms] [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 +2026-11-08T19:18:03Z [23,558ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:18:03Z [23,568ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:18:06Z [25,990ms] [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 +2026-11-08T19:18:06Z [25,990ms] [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 +2026-11-08T19:18:08Z [27,956ms] [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 : 10.511779 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 | ++---------+----------------+ + +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,035ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,035ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,035ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,035ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:18:13Z [33,035ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:18:16Z [35,968ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:18:18Z [37,832ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 1 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 237) +[ARMS] ep 2 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 127) +[ARMS] ep 3 OK: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 4 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 5 PLACE_UNREACHABLE: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 6 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 7 MOVING: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 8 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 9 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 10 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 11 OK: closest 7.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 12 TILTED: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 13 MOVING: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 14 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 15 PLACE_UNREACHABLE: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 16 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 17 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 18 OK: closest 4.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 19 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 20 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 21 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 22 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 23 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'GRASP_LOST': 3, 'PLACE_UNREACHABLE': 2, 'MOVING': 3, 'TILTED': 1}, 645 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p176 (15 successes, 9 failures) diff --git a/logs/vw10k_p177.log b/logs/vw10k_p177.log new file mode 100644 index 0000000000000000000000000000000000000000..ceb79541d27fd334e7345905ba43cfc16cce3fc9 --- /dev/null +++ b/logs/vw10k_p177.log @@ -0,0 +1,324 @@ +[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_20261108_191912.log +2026-11-08T19:19:13Z [554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:13Z [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) +2026-11-08T19:19:13Z [626ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:19:13Z [628ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:19:13Z [628ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:19:13Z [628ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:19:13Z [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: 3989.39 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. +2026-11-08T19:19:13Z [1,059ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:13Z [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) +2026-11-08T19:19:15Z [2,824ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:19:15Z [2,824ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [2,891ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [2,891ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [2,910ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [2,910ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [2,960ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [2,960ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [3,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [3,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:19:15Z [3,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:19:15Z [3,012ms] [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: 550861 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:19:20Z [8,139ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T19:19:21Z [8,919ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:21Z [8,919ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:19:21Z [8,949ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:21Z [8,949ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:19:21Z [8,960ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:21Z [8,960ms] [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) +2026-11-08T19:19:21Z [8,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:21Z [8,969ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:19:21Z [8,971ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:21Z [8,971ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:19:21Z [8,971ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:19:21Z [8,971ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:19:21Z [9,179ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:19:22Z [9,521ms] [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. +2026-11-08T19:19:22Z [9,531ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:19:25Z [12,760ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:19:25Z [13,060ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:19:25Z [13,060ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:19:25Z [13,061ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:19:31Z [18,758ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:19:33Z [20,930ms] [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 +2026-11-08T19:19:35Z [22,794ms] [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:0x1e9e96d0:World0.usd@ <0x2ab2b420>) + +2026-11-08T19:19:35Z [22,794ms] [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:0x1e9e96d0:World0.usd@ <0x2ab2b420>) + +[INFO]: Time taken for scene creation : 2.186806 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:19:36Z [23,816ms] [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 +2026-11-08T19:19:37Z [24,528ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:19:37Z [24,544ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:19:40Z [27,762ms] [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 +2026-11-08T19:19:40Z [27,762ms] [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 +2026-11-08T19:19:42Z [29,905ms] [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 : 12.643857 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 | ++---------+----------------+ + +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,853ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,854ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,855ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:19:48Z [35,856ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:19:52Z [40,025ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:19:55Z [43,249ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 CUP_TIPPED: closest 11.0 cm, arm_l_link7 <-> arm_r_link7 (l open, r idle, tick 89) +[ARMS] ep 2 NOT_ON_TRAY: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 3 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 4 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 5 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 6 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 7 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 8 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 9 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 10 HANDOVER_FAILED: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 210) +[ARMS] ep 11 NOT_ON_TRAY: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 12 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 13 MOVING: closest 4.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 14 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 15 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 16 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 17 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 18 OK: closest 4.6 cm, gripper_l_rh_p12_rn_l2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 19 PINCH_FAILED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 20 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 21 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 22 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 23 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 233) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'CUP_TIPPED': 1, 'NOT_ON_TRAY': 2, 'GRASP_LOST': 3, 'HANDOVER_FAILED': 1, 'MOVING': 1, 'PINCH_FAILED': 1}, 1428 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p177 (15 successes, 9 failures) diff --git a/logs/vw10k_p180.log b/logs/vw10k_p180.log new file mode 100644 index 0000000000000000000000000000000000000000..faf97df81c570800aabcb703281382e9ca830bc9 --- /dev/null +++ b/logs/vw10k_p180.log @@ -0,0 +1,324 @@ +[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_20261108_192921.log +2026-11-08T19:29:21Z [553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:21Z [553ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:21Z [624ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:29:21Z [626ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:29:21Z [626ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:29:21Z [626ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:29:24Z [2,833ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3989.39 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. +2026-11-08T19:29:28Z [7,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:28Z [7,140ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:34Z [13,094ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:29:34Z [13,094ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,098ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:29:34Z [13,098ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,118ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [13,118ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,125ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [13,125ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:29:34Z [13,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:29:34Z [13,130ms] [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: 543582 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:29:35Z [14,644ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:35Z [14,644ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:35Z [14,668ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:35Z [14,668ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:35Z [14,678ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:35Z [14,678ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:29:35Z [14,688ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:35Z [14,688ms] [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) +2026-11-08T19:29:35Z [14,689ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:35Z [14,689ms] [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) +2026-11-08T19:29:35Z [14,690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:29:35Z [14,690ms] [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) +2026-11-08T19:29:36Z [14,928ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:29:36Z [15,299ms] [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. +2026-11-08T19:29:36Z [15,307ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:29:39Z [18,470ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:29:39Z [18,693ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:29:39Z [18,693ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:29:39Z [18,694ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:29:43Z [21,910ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:29:45Z [24,403ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:29:47Z [26,603ms] [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 +2026-11-08T19:29:49Z [28,038ms] [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:0x121427d0:World0.usd@ <0x1e26a620>) + +2026-11-08T19:29:49Z [28,039ms] [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:0x121427d0:World0.usd@ <0x1e26a620>) + +[INFO]: Time taken for scene creation : 1.780019 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:29:50Z [29,162ms] [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 +2026-11-08T19:29:50Z [29,614ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:29:50Z [29,628ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:29:53Z [32,090ms] [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 +2026-11-08T19:29:53Z [32,090ms] [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 +2026-11-08T19:29:55Z [33,978ms] [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 : 10.676190 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 | ++---------+----------------+ + +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:30:00Z [39,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:30:03Z [41,961ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:30:05Z [43,841ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_18/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 240) +[ARMS] ep 1 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 2 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 3 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 4 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 130) +[ARMS] ep 5 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 6 PLACE_UNREACHABLE: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 7 TILTED: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 8 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 9 PINCH_FAILED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 10 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 11 TILTED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 12 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 13 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 14 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 15 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 16 MOVING: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 17 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 128) +[ARMS] ep 18 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 19 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 137) +[ARMS] ep 20 CUP_TIPPED: closest 16.9 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 110) +[ARMS] ep 21 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 22 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 23 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'GRASP_LOST': 3, 'PLACE_UNREACHABLE': 1, 'TILTED': 2, 'PINCH_FAILED': 1, 'CUP_TIPPED': 3, 'MOVING': 1}, 684 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p180 (13 successes, 11 failures) diff --git a/logs/vw10k_p181.log b/logs/vw10k_p181.log new file mode 100644 index 0000000000000000000000000000000000000000..c4ede06654d70f71f11f4f4a71e16eb0076c8443 --- /dev/null +++ b/logs/vw10k_p181.log @@ -0,0 +1,324 @@ +[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_20261108_193310.log +2026-11-08T19:33:11Z [540ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:11Z [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) +2026-11-08T19:33:11Z [610ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:33:11Z [612ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:33:11Z [620ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:33:11Z [620ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:33:11Z [636ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3989.39 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. +2026-11-08T19:33:11Z [1,039ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:11Z [1,039ms] [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) +2026-11-08T19:33:13Z [2,693ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:33:13Z [2,693ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,740ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:33:13Z [2,740ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,745ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:33:13Z [2,746ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,748ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:33:13Z [2,748ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,751ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:33:13Z [2,751ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:33:13Z [2,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:33:13Z [2,752ms] [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: 532344 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:33:19Z [8,837ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:19Z [8,837ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:33:19Z [8,863ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:19Z [8,863ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:33:19Z [8,873ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:19Z [8,873ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:33:19Z [8,883ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:19Z [8,883ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:33:19Z [8,884ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:19Z [8,884ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:33:19Z [8,885ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:33:19Z [8,885ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:33:19Z [9,103ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:33:20Z [9,487ms] [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. +2026-11-08T19:33:20Z [9,497ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:33:23Z [12,713ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:33:23Z [12,945ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:33:23Z [12,945ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:33:23Z [12,946ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:33:26Z [16,271ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:33:29Z [18,638ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:33:31Z [20,853ms] [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 +2026-11-08T19:33:32Z [22,203ms] [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:0x77026b7dadd0:World0.usd@ <0x76fe7fc1fdd0>) + +2026-11-08T19:33:32Z [22,203ms] [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:0x77026b7dadd0:World0.usd@ <0x76fe7fc1fdd0>) + +[INFO]: Time taken for scene creation : 1.704372 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:33:33Z [23,205ms] [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 +2026-11-08T19:33:34Z [23,623ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:33:34Z [23,634ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:33:36Z [25,987ms] [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 +2026-11-08T19:33:36Z [25,987ms] [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 +2026-11-08T19:33:38Z [27,843ms] [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 : 10.072155 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 | ++---------+----------------+ + +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,704ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,705ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,706ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,707ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,708ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,709ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:33:43Z [32,710ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:33:46Z [35,942ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:33:48Z [37,470ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 NOT_ON_TRAY: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 186) +[ARMS] ep 1 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[ARMS] ep 2 MOVING: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 3 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 4 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 138) +[ARMS] ep 5 CUP_TIPPED: closest 15.0 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 105) +[ARMS] ep 6 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 7 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 8 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 9 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 10 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 11 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 12 NOT_ON_TRAY: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 13 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 14 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 15 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 16 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 17 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 18 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 156) +[ARMS] ep 19 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 20 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 21 NOT_ON_TRAY: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 22 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 23 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'NOT_ON_TRAY': 3, 'GRASP_LOST': 4, 'MOVING': 1, 'CUP_TIPPED': 3, 'OK': 13}, 696 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p181 (13 successes, 11 failures) diff --git a/logs/vw10k_p182.log b/logs/vw10k_p182.log new file mode 100644 index 0000000000000000000000000000000000000000..f9800800b3c334d2757581adbf046fd2f419f3b0 --- /dev/null +++ b/logs/vw10k_p182.log @@ -0,0 +1,325 @@ +[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_20261108_193425.log +2026-11-08T19:34:25Z [558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:25Z [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) +2026-11-08T19:34:25Z [630ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:34:25Z [631ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:34:25Z [631ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:34:25Z [631ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:34:26Z [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: 3989.39 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. +2026-11-08T19:34:26Z [1,086ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:26Z [1,086ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:34:28Z [2,771ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:34:28Z [2,772ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,775ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,775ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,777ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,777ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,778ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,778ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:34:28Z [2,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:34:28Z [2,781ms] [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: 542093 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:34:33Z [8,471ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T19:34:34Z [9,179ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:34Z [9,179ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:34:34Z [9,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:34Z [9,205ms] [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) +2026-11-08T19:34:34Z [9,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:34Z [9,215ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:34:34Z [9,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:34Z [9,224ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:34:34Z [9,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:34Z [9,226ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:34:34Z [9,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:34:34Z [9,226ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:34:34Z [9,448ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:34:35Z [9,834ms] [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. +2026-11-08T19:34:35Z [9,842ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:34:38Z [13,028ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:34:38Z [13,237ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:34:38Z [13,237ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:34:38Z [13,238ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:34:41Z [16,462ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:34:44Z [18,886ms] [Warning] [omni.fabric.plugin] Warning: attribute resolution not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:34:46Z [21,132ms] [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 +2026-11-08T19:34:47Z [22,587ms] [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:0x1783a8a0:World0.usd@ <0x2397de90>) + +2026-11-08T19:34:47Z [22,587ms] [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:0x1783a8a0:World0.usd@ <0x2397de90>) + +[INFO]: Time taken for scene creation : 1.790909 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:34:48Z [23,645ms] [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 +2026-11-08T19:34:49Z [24,105ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:34:49Z [24,117ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:34:51Z [26,459ms] [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 +2026-11-08T19:34:51Z [26,459ms] [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 +2026-11-08T19:34:53Z [28,479ms] [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 : 10.545398 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 | ++---------+----------------+ + +2026-11-08T19:34:58Z [33,534ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,535ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,536ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,537ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:34:58Z [33,538ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T19:35:01Z [36,363ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:35:03Z [38,336ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_17/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 HANDOVER_FAILED: closest 4.6 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 222) +[ARMS] ep 1 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 2 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 228) +[ARMS] ep 3 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 4 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 5 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 6 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 7 PINCH_FAILED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 8 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 9 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 237) +[ARMS] ep 10 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 11 PLACE_UNREACHABLE: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 237) +[ARMS] ep 12 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 13 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 139) +[ARMS] ep 14 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 15 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 16 MOVING: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 17 MOVING: closest 4.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 18 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 19 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 20 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 21 OK: closest 4.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 22 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 23 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'HANDOVER_FAILED': 1, 'OK': 13, 'GRASP_LOST': 4, 'PINCH_FAILED': 1, 'MOVING': 4, 'PLACE_UNREACHABLE': 1}, 1562 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p182 (13 successes, 11 failures) diff --git a/logs/vw10k_p188.log b/logs/vw10k_p188.log new file mode 100644 index 0000000000000000000000000000000000000000..b06d4d08ca4f85f9ab3e1a2d1d26d2c39abb570a --- /dev/null +++ b/logs/vw10k_p188.log @@ -0,0 +1,325 @@ +[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_20261108_195334.log +2026-11-08T19:53:35Z [533ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:35Z [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) +2026-11-08T19:53:35Z [604ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T19:53:35Z [606ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T19:53:35Z [606ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T19:53:35Z [606ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T19:53:35Z [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: 4155.76 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. +2026-11-08T19:53:35Z [1,055ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:35Z [1,055ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:53:37Z [2,826ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:53:37Z [2,826ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,828ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,828ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,829ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,829ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,885ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,885ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,991ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,991ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T19:53:37Z [2,993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T19:53:37Z [2,993ms] [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: 512775 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T19:53:43Z [8,609ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T19:53:44Z [9,358ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:44Z [9,358ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:53:44Z [9,550ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:44Z [9,550ms] [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) +2026-11-08T19:53:44Z [9,563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:44Z [9,563ms] [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) +2026-11-08T19:53:44Z [9,573ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:44Z [9,573ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:53:44Z [9,576ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:44Z [9,576ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:53:44Z [9,577ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T19:53:44Z [9,577ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T19:53:44Z [9,794ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T19:53:45Z [10,234ms] [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. +2026-11-08T19:53:45Z [10,243ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T19:53:48Z [13,432ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T19:53:48Z [13,660ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T19:53:48Z [13,660ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T19:53:48Z [13,662ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T19:53:51Z [17,005ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T19:53:56Z [21,767ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T19:54:27Z [52,667ms] [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 +2026-11-08T19:54:29Z [54,543ms] [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:0x134fa760:World0.usd@ <0x1f63df90>) + +2026-11-08T19:54:29Z [54,543ms] [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:0x134fa760:World0.usd@ <0x1f63df90>) + +[INFO]: Time taken for scene creation : 2.190661 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T19:54:30Z [55,648ms] [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 +2026-11-08T19:54:31Z [56,226ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:54:31Z [56,237ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:54:34Z [59,233ms] [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 +2026-11-08T19:54:34Z [59,233ms] [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 +2026-11-08T19:54:39Z [64,505ms] [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 : 15.651111 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 | ++---------+----------------+ + +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,577ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,578ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,579ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,580ms] [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 +2026-11-08T19:54:45Z [70,581ms] [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 +2026-11-08T19:54:45Z [70,581ms] [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 +2026-11-08T19:54:45Z [70,581ms] [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 +2026-11-08T19:54:45Z [70,581ms] [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 +[INFO]: Completed setting up the environment... +2026-11-08T19:54:49Z [74,477ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T19:54:52Z [77,771ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_20/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 1 TILTED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 2 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 3 NOT_ON_TRAY: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 4 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 5 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 6 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 7 PLACE_UNREACHABLE: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 8 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 9 CUP_TIPPED: closest 27.9 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 9) +[ARMS] ep 10 TILTED: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 11 GRASP_LOST: closest 10.5 cm, arm_l_link7 <-> arm_r_link7 (l hold, r idle, tick 91) +[ARMS] ep 12 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 13 HANDOVER_FAILED: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 229) +[ARMS] ep 14 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 15 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 16 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 17 MOVING: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 18 CUP_TIPPED: closest 11.5 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 89) +[ARMS] ep 19 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 20 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 21 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 22 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 23 OK: closest 4.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'TILTED': 2, 'NOT_ON_TRAY': 1, 'PLACE_UNREACHABLE': 1, 'CUP_TIPPED': 3, 'GRASP_LOST': 2, 'HANDOVER_FAILED': 1, 'MOVING': 1}, 1419 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p188 (13 successes, 11 failures) diff --git a/logs/vw10k_p193.log b/logs/vw10k_p193.log new file mode 100644 index 0000000000000000000000000000000000000000..e1bfc5b7f89e92b38bca51563dfd239139770f2a --- /dev/null +++ b/logs/vw10k_p193.log @@ -0,0 +1,324 @@ +[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_20261108_200626.log +2026-11-08T20:06:27Z [558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:27Z [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) +2026-11-08T20:06:27Z [625ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T20:06:27Z [627ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T20:06:27Z [627ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T20:06:27Z [627ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T20:06:27Z [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: 3999.95 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. +2026-11-08T20:06:27Z [1,063ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:27Z [1,063ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:06:29Z [2,902ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T20:06:29Z [2,902ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,908ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,908ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,914ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,914ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,916ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,916ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:29Z [2,966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:29Z [2,966ms] [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: 511057 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T20:06:34Z [8,318ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T20:06:35Z [9,081ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:35Z [9,081ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:06:35Z [9,129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:35Z [9,129ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:06:35Z [9,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:35Z [9,144ms] [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) +2026-11-08T20:06:35Z [9,154ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:35Z [9,154ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:06:35Z [9,155ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:35Z [9,155ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:06:35Z [9,156ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:35Z [9,156ms] [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) +2026-11-08T20:06:35Z [9,375ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T20:06:36Z [9,851ms] [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. +2026-11-08T20:06:36Z [9,860ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T20:06:39Z [13,035ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T20:06:39Z [13,249ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T20:06:39Z [13,249ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T20:06:39Z [13,250ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T20:06:45Z [19,037ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T20:06:47Z [21,306ms] [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 +2026-11-08T20:06:50Z [24,100ms] [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:0x3411d790:World0.usd@ <0x745a3f9b8e10>) + +2026-11-08T20:06:50Z [24,100ms] [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:0x3411d790:World0.usd@ <0x745a3f9b8e10>) + +[INFO]: Time taken for scene creation : 3.176144 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T20:06:51Z [25,234ms] [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 +2026-11-08T20:06:53Z [26,408ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:06:53Z [26,573ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:02Z [35,464ms] [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 +2026-11-08T20:07:02Z [35,464ms] [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 +2026-11-08T20:07:04Z [37,643ms] [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 : 27.199723 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 | ++---------+----------------+ + +2026-11-08T20:07:18Z [51,769ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,769ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,770ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,771ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,772ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,773ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,774ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:18Z [51,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T20:07:24Z [57,866ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:28Z [61,412ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 1 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 2 OK: closest 7.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 3 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 4 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 5 OK: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 237) +[ARMS] ep 6 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 7 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 8 HANDOVER_FAILED: closest 4.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 9 MOVING: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 10 NOT_ON_TRAY: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 11 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 12 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 13 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[ARMS] ep 14 NOT_ON_TRAY: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 15 HANDOVER_FAILED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 16 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 17 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 18 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 19 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 20 TILTED: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 21 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 22 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 23 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'HANDOVER_FAILED': 2, 'MOVING': 2, 'NOT_ON_TRAY': 2, 'GRASP_LOST': 2, 'TILTED': 1}, 1405 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p193 (15 successes, 9 failures) diff --git a/logs/vw10k_p194.log b/logs/vw10k_p194.log new file mode 100644 index 0000000000000000000000000000000000000000..27af7b63a3a170b510c33767d91912b726ff4f1c --- /dev/null +++ b/logs/vw10k_p194.log @@ -0,0 +1,325 @@ +[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_20261108_200651.log +2026-11-08T20:06:51Z [523ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:51Z [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) +2026-11-08T20:06:51Z [597ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T20:06:51Z [598ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T20:06:51Z [598ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T20:06:51Z [598ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T20:06:51Z [622ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3999.95 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. +2026-11-08T20:06:52Z [1,051ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:06:52Z [1,051ms] [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) +2026-11-08T20:06:54Z [2,946ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T20:06:54Z [2,947ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,046ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,047ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,182ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,182ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,187ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,187ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,189ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:06:54Z [3,191ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:06:54Z [3,191ms] [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: 525699 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T20:06:59Z [7,995ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T20:07:00Z [8,807ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:00Z [8,807ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:00Z [8,838ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:00Z [8,838ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:00Z [8,860ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:00Z [8,860ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:00Z [8,870ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:00Z [8,870ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:00Z [8,871ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:00Z [8,871ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:00Z [8,872ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:00Z [8,872ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:00Z [9,094ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T20:07:00Z [9,458ms] [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. +2026-11-08T20:07:00Z [9,466ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T20:07:04Z [12,698ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T20:07:04Z [12,967ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T20:07:04Z [12,967ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T20:07:04Z [12,969ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T20:07:07Z [16,507ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T20:07:14Z [23,358ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T20:07:16Z [25,650ms] [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 +2026-11-08T20:07:18Z [27,579ms] [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:0x75fcafdc7d80:World0.usd@ <0x75fcafe20700>) + +2026-11-08T20:07:18Z [27,579ms] [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:0x75fcafdc7d80:World0.usd@ <0x75fcafe20700>) + +[INFO]: Time taken for scene creation : 2.315750 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T20:07:20Z [28,672ms] [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 +2026-11-08T20:07:20Z [29,242ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:20Z [29,255ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:23Z [32,114ms] [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 +2026-11-08T20:07:23Z [32,114ms] [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 +2026-11-08T20:07:25Z [34,272ms] [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 : 12.358686 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 | ++---------+----------------+ + +2026-11-08T20:07:31Z [40,410ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,411ms] [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 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:31Z [40,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T20:07:36Z [45,244ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:39Z [47,943ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 1 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 2 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 3 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 4 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 5 NOT_ON_TRAY: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 6 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 7 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 137) +[ARMS] ep 8 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 9 MOVING: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 10 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 131) +[ARMS] ep 11 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 12 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 220) +[ARMS] ep 13 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 14 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 15 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 16 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 17 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 18 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 19 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 243) +[ARMS] ep 20 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 21 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 22 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 23 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'GRASP_LOST': 6, 'OK': 15, 'NOT_ON_TRAY': 1, 'MOVING': 1, 'CUP_TIPPED': 1}, 1572 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p194 (15 successes, 9 failures) diff --git a/logs/vw10k_p195.log b/logs/vw10k_p195.log new file mode 100644 index 0000000000000000000000000000000000000000..74ebe320b2d26d657afc23cf1756d36b94456518 --- /dev/null +++ b/logs/vw10k_p195.log @@ -0,0 +1,325 @@ +[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_20261108_200704.log +2026-11-08T20:07:04Z [528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:04Z [528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:04Z [601ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T20:07:04Z [603ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T20:07:04Z [609ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T20:07:04Z [609ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T20:07:04Z [627ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3999.95 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. +2026-11-08T20:07:05Z [1,088ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:05Z [1,088ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:07Z [3,392ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T20:07:07Z [3,393ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,444ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,444ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,451ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,451ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,454ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,454ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,457ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,457ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T20:07:07Z [3,458ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T20:07:07Z [3,458ms] [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: 543658 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T20:07:12Z [8,322ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T20:07:13Z [9,181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:13Z [9,181ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:13Z [9,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:13Z [9,230ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:13Z [9,243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:13Z [9,243ms] [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) +2026-11-08T20:07:13Z [9,253ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:13Z [9,253ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:13Z [9,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:13Z [9,254ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:13Z [9,255ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T20:07:13Z [9,255ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T20:07:13Z [9,506ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T20:07:14Z [9,890ms] [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. +2026-11-08T20:07:14Z [9,899ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T20:07:17Z [13,139ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T20:07:17Z [13,393ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T20:07:17Z [13,393ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T20:07:17Z [13,394ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T20:07:20Z [16,732ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T20:07:23Z [19,389ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T20:07:26Z [22,074ms] [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 +2026-11-08T20:07:28Z [23,971ms] [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:0x1d84b420:World0.usd@ <0x29990840>) + +2026-11-08T20:07:28Z [23,971ms] [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:0x1d84b420:World0.usd@ <0x29990840>) + +[INFO]: Time taken for scene creation : 2.231153 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T20:07:29Z [25,029ms] [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 +2026-11-08T20:07:30Z [26,176ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:30Z [26,191ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:33Z [29,158ms] [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 +2026-11-08T20:07:33Z [29,158ms] [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 +2026-11-08T20:07:36Z [32,026ms] [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 : 20.421261 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 | ++---------+----------------+ + +2026-11-08T20:07:49Z [44,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,818ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,819ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +2026-11-08T20:07:49Z [44,820ms] [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 +[INFO]: Completed setting up the environment... +2026-11-08T20:07:55Z [50,861ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T20:07:58Z [54,460ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 HANDOVER_FAILED: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 1 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 2 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 3 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 4 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 5 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 238) +[ARMS] ep 6 MOVING: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 7 GRASP_LOST: closest 12.8 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 53) +[ARMS] ep 8 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 9 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 10 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 11 GRASP_LOST: closest 11.4 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l2 (l close, r idle, tick 46) +[ARMS] ep 12 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 13 NOT_ON_TRAY: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 14 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 264) +[ARMS] ep 15 NOT_ON_TRAY: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 16 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 17 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 18 PLACE_UNREACHABLE: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 176) +[ARMS] ep 19 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[ARMS] ep 20 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 21 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 209) +[ARMS] ep 22 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 235) +[ARMS] ep 23 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[COLLECT] batch 1: 10 ok / 14 failed so far, 24 saved, statuses {'HANDOVER_FAILED': 1, 'MOVING': 4, 'OK': 10, 'GRASP_LOST': 6, 'NOT_ON_TRAY': 2, 'PLACE_UNREACHABLE': 1}, 1512 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p195 (10 successes, 14 failures) diff --git a/logs/vw10k_p198.log b/logs/vw10k_p198.log new file mode 100644 index 0000000000000000000000000000000000000000..8c3770cf07ac57fa8ecd902eb507b97df0f3a353 --- /dev/null +++ b/logs/vw10k_p198.log @@ -0,0 +1,325 @@ +[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_20261108_231114.log +2026-11-08T23:11:15Z [549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:15Z [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) +2026-11-08T23:11:15Z [619ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:11:15Z [621ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:11:15Z [621ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:11:15Z [621ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:11:15Z [645ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-08T23:11:15Z [1,006ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:15Z [1,007ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:18Z [4,045ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:11:18Z [4,045ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,090ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,090ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,092ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,092ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:18Z [4,093ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:18Z [4,093ms] [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: 561533 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:11:21Z [6,956ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T23:11:22Z [7,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [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) +2026-11-08T23:11:22Z [7,891ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [7,891ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:22Z [7,907ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [7,907ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:22Z [7,916ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [7,916ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:22Z [7,917ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [7,917ms] [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) +2026-11-08T23:11:22Z [7,918ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [7,918ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:22Z [8,128ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:11:23Z [8,485ms] [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. +2026-11-08T23:11:23Z [8,492ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:11:26Z [11,687ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:11:26Z [11,867ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:11:26Z [11,867ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:11:26Z [11,868ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:11:29Z [15,197ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:11:32Z [17,681ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:11:34Z [19,898ms] [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 +2026-11-08T23:11:36Z [21,745ms] [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:0x77f386695590:World0.usd@ <0x77f38670b1f0>) + +2026-11-08T23:11:36Z [21,746ms] [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:0x77f386695590:World0.usd@ <0x77f38670b1f0>) + +[INFO]: Time taken for scene creation : 2.195672 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:11:37Z [22,824ms] [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 +2026-11-08T23:11:37Z [23,403ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:11:37Z [23,417ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:11:40Z [26,291ms] [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 +2026-11-08T23:11:40Z [26,291ms] [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 +2026-11-08T23:11:43Z [28,494ms] [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 : 15.287287 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 | ++---------+----------------+ + +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,458ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,459ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,460ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,461ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,462ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,463ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,464ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,464ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,464ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:11:58Z [43,599ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:12:02Z [47,745ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_21/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 1 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 2 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 3 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 4 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 5 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 6 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 7 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 8 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 9 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 10 OK: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 11 MOVING: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 12 NOT_ON_TRAY: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 13 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 14 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 15 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 153) +[ARMS] ep 16 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 17 MOVING: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 18 OK: closest 7.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 230) +[ARMS] ep 19 NOT_ON_TRAY: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 20 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 21 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 22 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 23 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[COLLECT] batch 1: 19 ok / 5 failed so far, 24 saved, statuses {'OK': 19, 'MOVING': 2, 'NOT_ON_TRAY': 2, 'GRASP_LOST': 1}, 1370 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p198 (19 successes, 5 failures) diff --git a/logs/vw10k_p199.hung1.log b/logs/vw10k_p199.hung1.log new file mode 100644 index 0000000000000000000000000000000000000000..35f1629067a8f23e362f2fb65c80642644df680a --- /dev/null +++ b/logs/vw10k_p199.hung1.log @@ -0,0 +1,297 @@ +[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_20261108_231114.log +2026-11-08T23:11:15Z [533ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:15Z [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) +2026-11-08T23:11:15Z [603ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:11:15Z [605ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:11:15Z [605ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:11:15Z [605ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:11:15Z [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: 3992.88 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. +2026-11-08T23:11:20Z [5,409ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:20Z [5,409ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:21Z [6,484ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:11:21Z [6,484ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,486ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,486ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,487ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,487ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,492ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,492ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:11:21Z [6,495ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:11:21Z [6,495ms] [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: 561192 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:11:22Z [7,259ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T23:11:22Z [8,028ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:22Z [8,028ms] [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) +2026-11-08T23:11:23Z [8,058ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:23Z [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) +2026-11-08T23:11:23Z [8,069ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:23Z [8,069ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:23Z [8,078ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:23Z [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) +2026-11-08T23:11:23Z [8,080ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:23Z [8,080ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:23Z [8,080ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:11:23Z [8,080ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:11:23Z [8,301ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:11:23Z [8,670ms] [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. +2026-11-08T23:11:23Z [8,681ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:11:26Z [11,913ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:11:27Z [12,143ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:11:27Z [12,143ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:11:27Z [12,145ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:11:30Z [15,479ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:11:32Z [17,970ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:11:35Z [20,297ms] [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 +2026-11-08T23:11:37Z [22,335ms] [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:0x1d3f5c90:World0.usd@ <0x2953a260>) + +2026-11-08T23:11:37Z [22,335ms] [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:0x1d3f5c90:World0.usd@ <0x2953a260>) + +[INFO]: Time taken for scene creation : 2.366051 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:11:38Z [23,390ms] [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 +2026-11-08T23:11:38Z [24,005ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:11:38Z [24,019ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:11:41Z [26,933ms] [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 +2026-11-08T23:11:41Z [26,933ms] [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 +2026-11-08T23:11:44Z [29,642ms] [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 : 15.061336 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 | ++---------+----------------+ + +2026-11-08T23:11:52Z [37,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,801ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,802ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,803ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,804ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,805ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,806ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:11:52Z [37,807ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:11:58Z [43,342ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:12:03Z [48,300ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_18/Backdrop/texture_floor + diff --git a/logs/vw10k_p200.log b/logs/vw10k_p200.log new file mode 100644 index 0000000000000000000000000000000000000000..dd7b1e6a6748ef17d1d07e63f01d1192969eefec --- /dev/null +++ b/logs/vw10k_p200.log @@ -0,0 +1,324 @@ +[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_20261108_231626.log +2026-11-08T23:16:27Z [552ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:27Z [552ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:16:27Z [623ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:16:27Z [624ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:16:27Z [624ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:16:27Z [624ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:16:37Z [11,075ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-08T23:16:38Z [11,838ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:38Z [11,838ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:16:39Z [12,472ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:16:39Z [12,472ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,484ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,484ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,485ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,485ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,496ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,496ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:16:39Z [12,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:16:39Z [12,507ms] [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: 653462 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:16:39Z [13,009ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-08T23:16:40Z [13,765ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:40Z [13,765ms] [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) +2026-11-08T23:16:40Z [13,790ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:40Z [13,790ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:16:40Z [13,799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:40Z [13,799ms] [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) +2026-11-08T23:16:40Z [13,809ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:40Z [13,809ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:16:40Z [13,810ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:40Z [13,810ms] [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) +2026-11-08T23:16:40Z [13,811ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:16:40Z [13,811ms] [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) +2026-11-08T23:16:40Z [14,021ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:16:41Z [14,362ms] [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. +2026-11-08T23:16:41Z [14,373ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:16:44Z [17,665ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:16:44Z [17,976ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:16:44Z [17,976ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:16:44Z [17,977ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:16:50Z [23,696ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:16:52Z [26,081ms] [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 +2026-11-08T23:16:54Z [27,468ms] [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:0x1005ff30:World0.usd@ <0x1c1a2400>) + +2026-11-08T23:16:54Z [27,468ms] [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:0x1005ff30:World0.usd@ <0x1c1a2400>) + +[INFO]: Time taken for scene creation : 1.724150 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:16:55Z [28,546ms] [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 +2026-11-08T23:16:55Z [29,009ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:16:55Z [29,020ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:16:58Z [31,434ms] [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 +2026-11-08T23:16:58Z [31,434ms] [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 +2026-11-08T23:17:00Z [33,359ms] [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 : 10.325887 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 | ++---------+----------------+ + +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,208ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:17:05Z [38,209ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:17:07Z [41,045ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:17:09Z [42,933ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 2 MOVING: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 3 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 4 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 5 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 6 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 7 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 8 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 9 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 222) +[ARMS] ep 10 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 11 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 12 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 124) +[ARMS] ep 13 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 14 GRASP_LOST: closest 12.7 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 46) +[ARMS] ep 15 OK: closest 4.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 16 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 17 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 18 HANDOVER_FAILED: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 19 HANDOVER_FAILED: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 20 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 21 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 22 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 23 MOVING: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'MOVING': 3, 'CUP_TIPPED': 1, 'GRASP_LOST': 5, 'HANDOVER_FAILED': 2}, 1392 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p200 (13 successes, 11 failures) diff --git a/logs/vw10k_p203.log b/logs/vw10k_p203.log new file mode 100644 index 0000000000000000000000000000000000000000..bb3a1268403a2d7cb919c82ecc0ad93b8c223338 --- /dev/null +++ b/logs/vw10k_p203.log @@ -0,0 +1,324 @@ +[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_20261108_231738.log +2026-11-08T23:17:39Z [550ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:39Z [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) +2026-11-08T23:17:39Z [627ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:17:39Z [629ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:17:39Z [629ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:17:39Z [629ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:17:39Z [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: 3992.88 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. +2026-11-08T23:17:44Z [5,902ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:44Z [5,903ms] [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) +2026-11-08T23:17:48Z [9,414ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:17:48Z [9,414ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,417ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:17:48Z [9,417ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,426ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:17:48Z [9,426ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,431ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:17:48Z [9,431ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,437ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:17:48Z [9,438ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,438ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:17:48Z [9,438ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:17:48Z [9,438ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:17:48Z [9,438ms] [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: 634289 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:17:50Z [11,743ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:50Z [11,743ms] [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) +2026-11-08T23:17:50Z [11,765ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:50Z [11,765ms] [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) +2026-11-08T23:17:50Z [11,774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:50Z [11,774ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:17:50Z [11,784ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:50Z [11,784ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:17:50Z [11,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:50Z [11,786ms] [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) +2026-11-08T23:17:50Z [11,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:17:50Z [11,786ms] [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) +2026-11-08T23:17:50Z [11,991ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:17:50Z [12,356ms] [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. +2026-11-08T23:17:50Z [12,364ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:17:54Z [15,477ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:17:54Z [15,725ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:17:54Z [15,725ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:17:54Z [15,726ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:17:57Z [18,911ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:18:00Z [21,478ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:18:02Z [23,826ms] [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 +2026-11-08T23:18:03Z [25,176ms] [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:0x27920630:World0.usd@ <0x339ef460>) + +2026-11-08T23:18:03Z [25,176ms] [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:0x27920630:World0.usd@ <0x339ef460>) + +[INFO]: Time taken for scene creation : 1.681575 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:18:04Z [26,284ms] [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 +2026-11-08T23:18:05Z [26,709ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:18:05Z [26,720ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:18:07Z [29,118ms] [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 +2026-11-08T23:18:07Z [29,118ms] [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 +2026-11-08T23:18:09Z [31,303ms] [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 : 17.002231 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 | ++---------+----------------+ + +2026-11-08T23:18:21Z [42,580ms] [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 +2026-11-08T23:18:21Z [42,580ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,581ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,582ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,583ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,584ms] [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 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,585ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:18:21Z [42,586ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:18:24Z [45,934ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:18:26Z [47,608ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_11/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 1 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 2 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 3 MOVING: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 4 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 5 HANDOVER_FAILED: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 6 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 7 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 8 NOT_ON_TRAY: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 9 GRASP_LOST: closest 11.7 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 71) +[ARMS] ep 10 MOVING: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 11 NOT_ON_TRAY: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 12 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 13 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 160) +[ARMS] ep 14 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 223) +[ARMS] ep 15 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 16 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 17 HANDOVER_FAILED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 18 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 218) +[ARMS] ep 19 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 20 CUP_TIPPED: closest 22.0 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l2 (l close, r idle, tick 52) +[ARMS] ep 21 OK: closest 7.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 22 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 23 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'MOVING': 2, 'HANDOVER_FAILED': 2, 'GRASP_LOST': 3, 'NOT_ON_TRAY': 2, 'CUP_TIPPED': 2}, 692 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p203 (13 successes, 11 failures) diff --git a/logs/vw10k_p207.log b/logs/vw10k_p207.log new file mode 100644 index 0000000000000000000000000000000000000000..aa29802dcb8bd12a0fade8831f916b33bb12412a --- /dev/null +++ b/logs/vw10k_p207.log @@ -0,0 +1,324 @@ +[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_20261108_233014.log +2026-11-08T23:30:15Z [526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:15Z [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) +2026-11-08T23:30:15Z [597ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:30:15Z [599ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:30:15Z [599ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:30:15Z [599ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:30:15Z [622ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-08T23:30:15Z [1,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:15Z [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) +2026-11-08T23:30:17Z [2,601ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:30:17Z [2,601ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,606ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:30:17Z [2,606ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:30:17Z [2,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,617ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:30:17Z [2,617ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,621ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:30:17Z [2,621ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:30:17Z [2,622ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:30:17Z [2,622ms] [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: 539141 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:30:23Z [8,498ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:23Z [8,498ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:30:23Z [8,525ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:23Z [8,525ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:30:23Z [8,534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:23Z [8,534ms] [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) +2026-11-08T23:30:23Z [8,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:23Z [8,544ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:30:23Z [8,545ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:23Z [8,545ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:30:23Z [8,546ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:30:23Z [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) +2026-11-08T23:30:23Z [8,757ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:30:23Z [9,109ms] [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. +2026-11-08T23:30:23Z [9,118ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:30:26Z [12,337ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:30:27Z [12,608ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:30:27Z [12,608ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:30:27Z [12,609ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:30:30Z [15,995ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:30:32Z [18,423ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:30:35Z [20,734ms] [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 +2026-11-08T23:30:36Z [22,092ms] [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:0x7a3a47fd0990:World0.usd@ <0x7a3a47d5fa30>) + +2026-11-08T23:30:36Z [22,092ms] [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:0x7a3a47fd0990:World0.usd@ <0x7a3a47d5fa30>) + +[INFO]: Time taken for scene creation : 1.694664 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:30:37Z [23,111ms] [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 +2026-11-08T23:30:38Z [23,554ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:30:38Z [23,566ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:30:40Z [26,105ms] [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 +2026-11-08T23:30:40Z [26,105ms] [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 +2026-11-08T23:30:42Z [28,011ms] [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 : 10.714785 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 | ++---------+----------------+ + +2026-11-08T23:30:47Z [33,216ms] [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 +2026-11-08T23:30:47Z [33,216ms] [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 +2026-11-08T23:30:47Z [33,216ms] [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 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,217ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,218ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,219ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,220ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,221ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:30:47Z [33,222ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:30:50Z [36,006ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:30:52Z [37,942ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_21/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 MOVING: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 2 NOT_ON_TRAY: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 3 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 4 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 5 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 138) +[ARMS] ep 6 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 7 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 8 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 9 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 10 CUP_TIPPED: closest 24.5 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 104) +[ARMS] ep 11 OK: closest 4.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 12 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 13 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 14 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 15 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 222) +[ARMS] ep 16 CUP_TIPPED: closest 28.2 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 5) +[ARMS] ep 17 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 18 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 19 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 20 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 21 PLACE_UNREACHABLE: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 22 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 23 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[COLLECT] batch 1: 14 ok / 10 failed so far, 24 saved, statuses {'OK': 14, 'MOVING': 2, 'NOT_ON_TRAY': 1, 'GRASP_LOST': 1, 'CUP_TIPPED': 5, 'PLACE_UNREACHABLE': 1}, 709 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p207 (14 successes, 10 failures) diff --git a/logs/vw10k_p209.log b/logs/vw10k_p209.log new file mode 100644 index 0000000000000000000000000000000000000000..898084a757afb0709083d1a2c368b460652322fb --- /dev/null +++ b/logs/vw10k_p209.log @@ -0,0 +1,325 @@ +[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_20261108_233557.log +2026-11-08T23:35:57Z [554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:35:57Z [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) +2026-11-08T23:35:57Z [626ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:35:57Z [628ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:35:57Z [628ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:35:57Z [628ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:35:57Z [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: 3992.88 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. +2026-11-08T23:35:58Z [1,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:35:58Z [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) +2026-11-08T23:35:59Z [2,775ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:35:59Z [2,775ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,777ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,777ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,779ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,779ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,782ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,782ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,788ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,789ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,789ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,789ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:35:59Z [2,789ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:35:59Z [2,789ms] [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: 540470 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:36:04Z [7,882ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-08T23:36:05Z [8,689ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:36:05Z [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) +2026-11-08T23:36:05Z [8,715ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:36:05Z [8,715ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:36:05Z [8,725ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:36:05Z [8,725ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:36:05Z [8,735ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:36:05Z [8,735ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:36:05Z [8,736ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:36:05Z [8,736ms] [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) +2026-11-08T23:36:05Z [8,737ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:36:05Z [8,737ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:36:05Z [8,954ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:36:06Z [9,321ms] [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. +2026-11-08T23:36:06Z [9,331ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:36:09Z [12,767ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:36:10Z [13,022ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:36:10Z [13,022ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:36:10Z [13,024ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:36:13Z [16,402ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:36:15Z [18,897ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:36:18Z [21,529ms] [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 +2026-11-08T23:36:20Z [23,536ms] [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:0xc6ed9d0:World0.usd@ <0x18831880>) + +2026-11-08T23:36:20Z [23,536ms] [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:0xc6ed9d0:World0.usd@ <0x18831880>) + +[INFO]: Time taken for scene creation : 2.337894 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:36:21Z [24,550ms] [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 +2026-11-08T23:36:22Z [25,098ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:36:22Z [25,112ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:36:24Z [27,698ms] [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 +2026-11-08T23:36:24Z [27,698ms] [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 +2026-11-08T23:36:26Z [29,739ms] [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 : 12.073309 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 | ++---------+----------------+ + +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,029ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,030ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,031ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,032ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,033ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:36:33Z [36,034ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:36:37Z [40,718ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:36:40Z [43,357ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_19/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 2 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 136) +[ARMS] ep 3 NOT_ON_TRAY: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 4 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 237) +[ARMS] ep 5 OK: closest 4.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 6 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 7 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 151) +[ARMS] ep 8 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 9 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 227) +[ARMS] ep 10 NOT_ON_TRAY: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 11 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 12 MOVING: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 13 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 14 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 15 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 16 NOT_ON_TRAY: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 17 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 18 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 174) +[ARMS] ep 19 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 20 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 21 PLACE_UNREACHABLE: closest 7.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 22 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 23 CUP_TIPPED: closest 17.1 cm, arm_l_link7 <-> arm_r_link7 (l open, r idle, tick 89) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'GRASP_LOST': 3, 'NOT_ON_TRAY': 3, 'MOVING': 1, 'PLACE_UNREACHABLE': 1, 'CUP_TIPPED': 1}, 1107 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p209 (15 successes, 9 failures) diff --git a/logs/vw10k_p211.log b/logs/vw10k_p211.log new file mode 100644 index 0000000000000000000000000000000000000000..ad7037bf4046132691435cedab841410d1f32a52 --- /dev/null +++ b/logs/vw10k_p211.log @@ -0,0 +1,324 @@ +[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_20261108_234041.log +2026-11-08T23:40:42Z [542ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:42Z [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) +2026-11-08T23:40:42Z [612ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:40:42Z [613ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:40:42Z [613ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:40:42Z [613ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:40:45Z [3,944ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-08T23:40:52Z [10,524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:52Z [10,524ms] [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) +2026-11-08T23:40:53Z [11,633ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:40:53Z [11,633ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,634ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:40:53Z [11,634ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,635ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:40:53Z [11,635ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,637ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:40:53Z [11,637ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:40:53Z [11,638ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:40:53Z [11,638ms] [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: 561742 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:40:54Z [12,839ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:54Z [12,839ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:40:54Z [12,860ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:54Z [12,860ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:40:54Z [12,870ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:54Z [12,870ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:40:54Z [12,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:54Z [12,879ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:40:54Z [12,880ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:54Z [12,880ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:40:54Z [12,881ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:40:54Z [12,881ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:40:54Z [13,104ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:40:55Z [13,597ms] [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. +2026-11-08T23:40:55Z [13,606ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:40:58Z [16,837ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:40:58Z [17,058ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:40:58Z [17,059ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:40:58Z [17,060ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:41:02Z [20,482ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:41:04Z [22,878ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:41:06Z [25,173ms] [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 +2026-11-08T23:41:08Z [26,555ms] [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:0x26deb320:World0.usd@ <0x32ef65d0>) + +2026-11-08T23:41:08Z [26,555ms] [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:0x26deb320:World0.usd@ <0x32ef65d0>) + +[INFO]: Time taken for scene creation : 1.726149 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:41:09Z [27,597ms] [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 +2026-11-08T23:41:09Z [28,013ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:41:09Z [28,024ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:41:12Z [30,357ms] [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 +2026-11-08T23:41:12Z [30,357ms] [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 +2026-11-08T23:41:14Z [32,509ms] [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 : 12.669341 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 | ++---------+----------------+ + +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,640ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,641ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,642ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,643ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,644ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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 +2026-11-08T23:41:21Z [39,645ms] [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... +2026-11-08T23:41:24Z [42,993ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:41:26Z [44,606ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_17/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 NOT_ON_TRAY: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 NOT_ON_TRAY: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 2 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 3 PLACE_UNREACHABLE: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 4 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 5 CUP_TIPPED: closest 27.4 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 15) +[ARMS] ep 6 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[ARMS] ep 7 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 8 HANDOVER_FAILED: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 9 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 10 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 11 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 151) +[ARMS] ep 12 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 13 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 14 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 15 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 16 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 17 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 18 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 19 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 20 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 123) +[ARMS] ep 21 MOVING: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 22 NOT_ON_TRAY: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 23 CUP_TIPPED: closest 13.8 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 107) +[COLLECT] batch 1: 9 ok / 15 failed so far, 24 saved, statuses {'NOT_ON_TRAY': 3, 'CUP_TIPPED': 3, 'PLACE_UNREACHABLE': 1, 'OK': 9, 'GRASP_LOST': 6, 'HANDOVER_FAILED': 1, 'MOVING': 1}, 649 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p211 (9 successes, 15 failures) diff --git a/logs/vw10k_p212.log b/logs/vw10k_p212.log new file mode 100644 index 0000000000000000000000000000000000000000..597599c8abcbd7871c66f095f960d367be9c25a4 --- /dev/null +++ b/logs/vw10k_p212.log @@ -0,0 +1,324 @@ +[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_20261108_234300.log +2026-11-08T23:43:01Z [530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:01Z [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) +2026-11-08T23:43:01Z [599ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-08T23:43:01Z [601ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-08T23:43:01Z [601ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-08T23:43:01Z [601ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-08T23:43:01Z [622ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-08T23:43:01Z [1,053ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:01Z [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) +2026-11-08T23:43:03Z [2,640ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:43:03Z [2,640ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,642ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:43:03Z [2,642ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,693ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:43:03Z [2,693ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,695ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:43:03Z [2,695ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,698ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:43:03Z [2,698ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-08T23:43:03Z [2,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-08T23:43:03Z [2,699ms] [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: 548954 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-08T23:43:09Z [8,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:09Z [8,520ms] [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) +2026-11-08T23:43:09Z [8,546ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:09Z [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) +2026-11-08T23:43:09Z [8,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:09Z [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) +2026-11-08T23:43:09Z [8,567ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:09Z [8,567ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:43:09Z [8,568ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:09Z [8,568ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:43:09Z [8,569ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-08T23:43:09Z [8,569ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-08T23:43:09Z [8,801ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-08T23:43:09Z [9,169ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-11-08T23:43:09Z [9,177ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-08T23:43:12Z [12,373ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-08T23:43:13Z [12,633ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-08T23:43:13Z [12,633ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-08T23:43:13Z [12,639ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-08T23:43:16Z [15,827ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-08T23:43:19Z [18,504ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-08T23:43:25Z [25,316ms] [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 +2026-11-08T23:43:30Z [30,106ms] [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:0x285dddd0:World0.usd@ <0x346896d0>) + +2026-11-08T23:43:30Z [30,107ms] [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:0x285dddd0:World0.usd@ <0x346896d0>) + +[INFO]: Time taken for scene creation : 1.852208 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-08T23:43:31Z [31,161ms] [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 +2026-11-08T23:43:32Z [31,624ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:43:32Z [31,635ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:43:34Z [34,114ms] [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 +2026-11-08T23:43:34Z [34,114ms] [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 +2026-11-08T23:43:36Z [36,011ms] [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 : 10.895899 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 | ++---------+----------------+ + +2026-11-08T23:43:41Z [41,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,412ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,413ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,414ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,415ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,416ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,417ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-08T23:43:41Z [41,418ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-08T23:43:44Z [44,292ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-08T23:43:46Z [46,178ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_23/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 1 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 2 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 3 NOT_ON_TRAY: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 4 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 5 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 6 HANDOVER_FAILED: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 255) +[ARMS] ep 7 NOT_ON_TRAY: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 8 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 9 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 10 NOT_ON_TRAY: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 11 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 12 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 13 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 131) +[ARMS] ep 14 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 15 PLACE_UNREACHABLE: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 16 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 17 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 18 NOT_ON_TRAY: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 19 CUP_TIPPED: closest 25.0 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l2 (l close, r idle, tick 59) +[ARMS] ep 20 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 21 MOVING: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 22 OK: closest 4.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 23 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 152) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'NOT_ON_TRAY': 4, 'HANDOVER_FAILED': 1, 'GRASP_LOST': 2, 'PLACE_UNREACHABLE': 1, 'CUP_TIPPED': 1, 'MOVING': 2}, 768 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p212 (13 successes, 11 failures) diff --git a/logs/vw10k_p221.log b/logs/vw10k_p221.log new file mode 100644 index 0000000000000000000000000000000000000000..813f965212ffb409b3e615ff0c57456ffdfd5ac1 --- /dev/null +++ b/logs/vw10k_p221.log @@ -0,0 +1,325 @@ +[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_20261109_000946.log +2026-11-09T00:09:47Z [528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:09:47Z [528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:09:47Z [599ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T00:09:47Z [607ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T00:09:47Z [607ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T00:09:47Z [607ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T00:09:47Z [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: 3992.88 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. +2026-11-09T00:09:47Z [1,005ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:09:47Z [1,005ms] [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) +2026-11-09T00:09:49Z [2,845ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:09:49Z [2,846ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,851ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,853ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,853ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,855ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,855ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,857ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,858ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,859ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,859ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:09:49Z [2,859ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:09:49Z [2,859ms] [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: 527534 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T00:09:55Z [8,273ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-09T00:09:56Z [9,811ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:09:56Z [9,811ms] [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) +2026-11-09T00:10:00Z [13,726ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:10:00Z [13,726ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:10:00Z [13,775ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:10:00Z [13,775ms] [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) +2026-11-09T00:10:00Z [13,785ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:10:00Z [13,785ms] [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) +2026-11-09T00:10:00Z [13,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:10:00Z [13,786ms] [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) +2026-11-09T00:10:00Z [13,787ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:10:00Z [13,787ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:10:00Z [14,113ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T00:10:01Z [14,525ms] [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. +2026-11-09T00:10:01Z [14,533ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T00:10:04Z [17,724ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T00:10:04Z [17,929ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T00:10:04Z [17,929ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T00:10:04Z [17,930ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T00:10:08Z [21,331ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T00:10:10Z [23,820ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T00:10:13Z [26,580ms] [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 +2026-11-09T00:10:15Z [28,489ms] [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:0x7585f00c5870:World0.usd@ <0x7581998603e0>) + +2026-11-09T00:10:15Z [28,489ms] [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:0x7585f00c5870:World0.usd@ <0x7581998603e0>) + +[INFO]: Time taken for scene creation : 2.298842 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T00:10:16Z [29,585ms] [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 +2026-11-09T00:10:17Z [30,222ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:10:17Z [30,237ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:10:19Z [32,991ms] [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 +2026-11-09T00:10:19Z [32,992ms] [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 +2026-11-09T00:10:21Z [35,059ms] [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 : 14.359342 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 | ++---------+----------------+ + +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,324ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,325ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,326ms] [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 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:10:30Z [43,327ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T00:10:34Z [48,120ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:10:39Z [52,858ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 NOT_ON_TRAY: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 1 OK: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 2 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[ARMS] ep 3 NOT_ON_TRAY: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 4 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 5 HANDOVER_FAILED: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 6 NOT_ON_TRAY: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 7 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 8 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 9 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 10 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 336) +[ARMS] ep 11 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 159) +[ARMS] ep 12 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 13 GRASP_LOST: closest 10.4 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 84) +[ARMS] ep 14 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 127) +[ARMS] ep 15 TILTED: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 16 PLACE_UNREACHABLE: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 17 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 259) +[ARMS] ep 18 MOVING: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 19 MOVING: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 227) +[ARMS] ep 20 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 21 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 22 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 23 NOT_ON_TRAY: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[COLLECT] batch 1: 9 ok / 15 failed so far, 24 saved, statuses {'NOT_ON_TRAY': 4, 'OK': 9, 'GRASP_LOST': 6, 'HANDOVER_FAILED': 1, 'TILTED': 1, 'PLACE_UNREACHABLE': 1, 'MOVING': 2}, 1783 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p221 (9 successes, 15 failures) diff --git a/logs/vw10k_p226.log b/logs/vw10k_p226.log new file mode 100644 index 0000000000000000000000000000000000000000..87f6289e849cbdf2e19806f691655158f03c805a --- /dev/null +++ b/logs/vw10k_p226.log @@ -0,0 +1,325 @@ +[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_20261109_002300.log +2026-11-09T00:23:01Z [556ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:01Z [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) +2026-11-09T00:23:01Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T00:23:01Z [637ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T00:23:01Z [637ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T00:23:01Z [637ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T00:23:01Z [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: 3992.88 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. +2026-11-09T00:23:01Z [1,090ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:01Z [1,090ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:23:03Z [2,783ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:23:03Z [2,783ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,789ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,789ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,792ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,792ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,843ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,843ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:23:03Z [2,851ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:23:03Z [2,851ms] [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: 527647 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T00:23:08Z [7,751ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-09T00:23:09Z [8,504ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:09Z [8,504ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:23:09Z [8,532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:09Z [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) +2026-11-09T00:23:09Z [8,543ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:09Z [8,543ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:23:09Z [8,553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:09Z [8,553ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:23:09Z [8,554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:09Z [8,554ms] [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) +2026-11-09T00:23:09Z [8,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:23:09Z [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) +2026-11-09T00:23:09Z [8,773ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T00:23:09Z [9,126ms] [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. +2026-11-09T00:23:09Z [9,134ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T00:23:12Z [12,303ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T00:23:13Z [12,507ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T00:23:13Z [12,507ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T00:23:13Z [12,508ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T00:23:16Z [15,906ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T00:23:19Z [18,405ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T00:23:21Z [20,764ms] [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 +2026-11-09T00:23:23Z [22,616ms] [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:0x227c6100:World0.usd@ <0x2e908a30>) + +2026-11-09T00:23:23Z [22,616ms] [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:0x227c6100:World0.usd@ <0x2e908a30>) + +[INFO]: Time taken for scene creation : 2.189956 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T00:23:24Z [23,662ms] [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 +2026-11-09T00:23:25Z [24,378ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:23:25Z [24,389ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:23:33Z [32,554ms] [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 +2026-11-09T00:23:33Z [32,554ms] [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 +2026-11-09T00:23:35Z [34,461ms] [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 : 16.581421 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 | ++---------+----------------+ + +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,610ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,611ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,612ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,613ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:23:40Z [39,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T00:23:43Z [42,660ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:23:45Z [44,691ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 CUP_TIPPED: closest 22.8 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 104) +[ARMS] ep 1 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 2 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 3 NOT_ON_TRAY: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 4 MOVING: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 5 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 6 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 7 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 8 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 228) +[ARMS] ep 9 CUP_TIPPED: closest 28.2 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 4) +[ARMS] ep 10 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 11 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 126) +[ARMS] ep 12 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 13 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 14 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 15 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l move, r reach, tick 122) +[ARMS] ep 16 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[ARMS] ep 17 TILTED: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 18 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 19 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 20 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 131) +[ARMS] ep 21 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 22 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 23 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'CUP_TIPPED': 2, 'OK': 13, 'NOT_ON_TRAY': 1, 'MOVING': 1, 'GRASP_LOST': 6, 'TILTED': 1}, 1472 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p226 (13 successes, 11 failures) diff --git a/logs/vw10k_p231.log b/logs/vw10k_p231.log new file mode 100644 index 0000000000000000000000000000000000000000..7909ca82af5d3d044fddcc0f5cc109bc7477a0c8 --- /dev/null +++ b/logs/vw10k_p231.log @@ -0,0 +1,324 @@ +[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_20261109_003429.log +2026-11-09T00:34:30Z [544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:30Z [544ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:30Z [617ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T00:34:30Z [619ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T00:34:30Z [619ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T00:34:30Z [619ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T00:34:30Z [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: 3992.88 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. +2026-11-09T00:34:30Z [1,059ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:30Z [1,059ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:32Z [2,600ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:34:32Z [2,600ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,601ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:34:32Z [2,601ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,603ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:34:32Z [2,603ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,605ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:34:32Z [2,605ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:34:32Z [2,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:34:32Z [2,607ms] [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: 541946 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T00:34:38Z [8,586ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:38Z [8,586ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:38Z [8,613ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:38Z [8,613ms] [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) +2026-11-09T00:34:38Z [8,622ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:38Z [8,622ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:38Z [8,632ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:38Z [8,632ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:38Z [8,633ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:38Z [8,633ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:38Z [8,634ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:34:38Z [8,634ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:34:38Z [8,855ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T00:34:38Z [9,335ms] [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. +2026-11-09T00:34:38Z [9,344ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T00:34:42Z [12,547ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T00:34:42Z [12,755ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T00:34:42Z [12,755ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T00:34:42Z [12,756ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T00:34:45Z [16,015ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T00:34:47Z [18,431ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T00:34:50Z [20,726ms] [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 +2026-11-09T00:34:51Z [22,094ms] [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:0x2641e6d0:World0.usd@ <0x324ea030>) + +2026-11-09T00:34:51Z [22,094ms] [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:0x2641e6d0:World0.usd@ <0x324ea030>) + +[INFO]: Time taken for scene creation : 1.683937 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T00:34:52Z [23,093ms] [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 +2026-11-09T00:34:53Z [23,532ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:34:53Z [23,543ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:34:55Z [25,835ms] [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 +2026-11-09T00:34:55Z [25,835ms] [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 +2026-11-09T00:34:57Z [27,752ms] [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 : 10.358118 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 | ++---------+----------------+ + +2026-11-09T00:35:02Z [32,823ms] [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 +2026-11-09T00:35:02Z [32,823ms] [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 +2026-11-09T00:35:02Z [32,823ms] [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 +2026-11-09T00:35:02Z [32,823ms] [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 +2026-11-09T00:35:02Z [32,823ms] [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 +2026-11-09T00:35:02Z [32,823ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,824ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,825ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,826ms] [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 +2026-11-09T00:35:02Z [32,827ms] [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 +2026-11-09T00:35:02Z [32,827ms] [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 +2026-11-09T00:35:02Z [32,827ms] [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 +2026-11-09T00:35:02Z [32,827ms] [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 +2026-11-09T00:35:02Z [32,827ms] [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 +2026-11-09T00:35:02Z [32,827ms] [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... +2026-11-09T00:35:05Z [35,624ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:35:06Z [37,491ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_18/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 1 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 2 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 3 PLACE_UNREACHABLE: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 4 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 5 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 6 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 7 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 8 NOT_ON_TRAY: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 9 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 10 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 11 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 12 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 13 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 14 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 15 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 16 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 123) +[ARMS] ep 17 MOVING: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 18 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 19 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 20 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 205) +[ARMS] ep 21 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 22 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 23 OK: closest 7.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'GRASP_LOST': 5, 'PLACE_UNREACHABLE': 1, 'NOT_ON_TRAY': 1, 'MOVING': 2}, 694 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p231 (15 successes, 9 failures) diff --git a/logs/vw10k_p239.log b/logs/vw10k_p239.log new file mode 100644 index 0000000000000000000000000000000000000000..7a0d05edccaf9073f22aea1066d6d64f34647b07 --- /dev/null +++ b/logs/vw10k_p239.log @@ -0,0 +1,325 @@ +[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_20261109_005139.log +2026-11-09T00:51:39Z [561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:39Z [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) +2026-11-09T00:51:39Z [628ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T00:51:39Z [630ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T00:51:39Z [630ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T00:51:39Z [630ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T00:51:39Z [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: 3992.88 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. +2026-11-09T00:51:40Z [1,345ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:40Z [1,345ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:51:42Z [3,352ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:51:42Z [3,352ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,354ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,355ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,357ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,357ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,359ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,359ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:51:42Z [3,361ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:51:42Z [3,361ms] [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: 553153 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T00:51:47Z [8,343ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-09T00:51:48Z [9,081ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:48Z [9,081ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:51:48Z [9,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:48Z [9,115ms] [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) +2026-11-09T00:51:48Z [9,128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:48Z [9,128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:51:48Z [9,138ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:48Z [9,138ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:51:48Z [9,139ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:48Z [9,139ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:51:48Z [9,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:51:48Z [9,140ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:51:48Z [9,354ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T00:51:48Z [9,728ms] [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. +2026-11-09T00:51:48Z [9,738ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T00:51:51Z [12,945ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T00:51:52Z [13,187ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T00:51:52Z [13,187ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T00:51:52Z [13,188ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T00:51:55Z [16,497ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T00:51:58Z [18,989ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T00:52:00Z [21,293ms] [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 +2026-11-09T00:52:03Z [24,255ms] [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:0x290f7160:World0.usd@ <0x29199d40>) + +2026-11-09T00:52:03Z [24,255ms] [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:0x290f7160:World0.usd@ <0x29199d40>) + +[INFO]: Time taken for scene creation : 3.302552 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T00:52:04Z [25,283ms] [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 +2026-11-09T00:52:05Z [26,138ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:52:05Z [26,152ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:52:08Z [29,361ms] [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 +2026-11-09T00:52:08Z [29,361ms] [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 +2026-11-09T00:52:10Z [31,633ms] [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 : 13.817903 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 | ++---------+----------------+ + +2026-11-09T00:52:17Z [38,485ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,485ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,485ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,485ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:52:17Z [38,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T00:52:22Z [43,621ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:52:27Z [48,388ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_17/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 4.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 1 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 2 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 3 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 128) +[ARMS] ep 4 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 5 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 143) +[ARMS] ep 6 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[ARMS] ep 7 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 8 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 9 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 10 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 11 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 126) +[ARMS] ep 12 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 13 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 14 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 15 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 125) +[ARMS] ep 16 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 17 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 18 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 19 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 148) +[ARMS] ep 20 HANDOVER_FAILED: closest 4.4 cm, gripper_l_rh_p12_rn_l2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 21 HANDOVER_FAILED: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 229) +[ARMS] ep 22 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 23 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'GRASP_LOST': 8, 'CUP_TIPPED': 1, 'HANDOVER_FAILED': 2}, 1567 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p239 (13 successes, 11 failures) diff --git a/logs/vw10k_p240.log b/logs/vw10k_p240.log new file mode 100644 index 0000000000000000000000000000000000000000..9e11c5bce26d84a6e1b1ec4c533b59561906fb8e --- /dev/null +++ b/logs/vw10k_p240.log @@ -0,0 +1,324 @@ +[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_20261109_005841.log +2026-11-09T00:58:41Z [534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:41Z [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) +2026-11-09T00:58:41Z [602ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T00:58:41Z [604ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T00:58:41Z [604ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T00:58:41Z [604ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T00:58:41Z [627ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T00:58:42Z [1,047ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:42Z [1,047ms] [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) +2026-11-09T00:58:44Z [2,727ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:58:44Z [2,727ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,728ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:58:44Z [2,728ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,731ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:58:44Z [2,731ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,732ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:58:44Z [2,732ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,733ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:58:44Z [2,734ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,734ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:58:44Z [2,734ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T00:58:44Z [2,734ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T00:58:44Z [2,734ms] [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: 529033 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T00:58:49Z [8,672ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:49Z [8,672ms] [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) +2026-11-09T00:58:50Z [8,698ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:50Z [8,698ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:58:50Z [8,708ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:50Z [8,708ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:58:50Z [8,719ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:50Z [8,719ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:58:50Z [8,720ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:50Z [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) +2026-11-09T00:58:50Z [8,721ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T00:58:50Z [8,721ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T00:58:50Z [8,932ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T00:58:50Z [9,298ms] [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. +2026-11-09T00:58:50Z [9,308ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T00:58:53Z [12,421ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T00:58:53Z [12,622ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T00:58:53Z [12,622ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T00:58:53Z [12,623ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T00:58:57Z [15,832ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T00:58:59Z [18,271ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T00:59:01Z [20,456ms] [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 +2026-11-09T00:59:03Z [21,848ms] [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:0x177ebe00:World0.usd@ <0x23914100>) + +2026-11-09T00:59:03Z [21,848ms] [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:0x177ebe00:World0.usd@ <0x23914100>) + +[INFO]: Time taken for scene creation : 1.716811 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T00:59:04Z [22,877ms] [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 +2026-11-09T00:59:04Z [23,293ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:59:04Z [23,304ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:59:06Z [25,602ms] [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 +2026-11-09T00:59:06Z [25,602ms] [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 +2026-11-09T00:59:09Z [27,716ms] [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 : 11.078869 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 | ++---------+----------------+ + +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,310ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,311ms] [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 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,312ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T00:59:14Z [33,313ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T00:59:17Z [36,148ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T00:59:19Z [38,025ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_19/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 MOVING: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 204) +[ARMS] ep 2 CUP_TIPPED: closest 28.0 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 9) +[ARMS] ep 3 MOVING: closest 4.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 4 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 5 OK: closest 7.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 6 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 7 MOVING: closest 4.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 8 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 9 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 10 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 11 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 12 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 13 TILTED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 14 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 15 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 16 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 122) +[ARMS] ep 17 MOVING: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 18 HANDOVER_FAILED: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 19 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 152) +[ARMS] ep 20 MOVING: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 21 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 22 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 23 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'MOVING': 5, 'OK': 13, 'CUP_TIPPED': 1, 'GRASP_LOST': 3, 'TILTED': 1, 'HANDOVER_FAILED': 1}, 665 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p240 (13 successes, 11 failures) diff --git a/logs/vw10k_p243.log b/logs/vw10k_p243.log new file mode 100644 index 0000000000000000000000000000000000000000..cae5a17f10126ef7c70538ecedf03266cc7f6805 --- /dev/null +++ b/logs/vw10k_p243.log @@ -0,0 +1,324 @@ +[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_20261109_010222.log +2026-11-09T01:02:23Z [518ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:23Z [518ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:02:23Z [587ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:02:23Z [589ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:02:23Z [589ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:02:23Z [589ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:02:23Z [612ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T01:02:24Z [1,378ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:24Z [1,378ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:02:26Z [3,503ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:02:26Z [3,503ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,505ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:02:26Z [3,505ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:02:26Z [3,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,520ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:02:26Z [3,520ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,527ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:02:26Z [3,527ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:02:26Z [3,528ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:02:26Z [3,528ms] [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: 563597 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:02:32Z [9,358ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:32Z [9,358ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:02:32Z [9,385ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:32Z [9,385ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:02:32Z [9,395ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:32Z [9,395ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:02:32Z [9,404ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:32Z [9,404ms] [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) +2026-11-09T01:02:32Z [9,405ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:32Z [9,405ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:02:32Z [9,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:02:32Z [9,406ms] [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) +2026-11-09T01:02:32Z [9,618ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:02:32Z [9,972ms] [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. +2026-11-09T01:02:32Z [9,980ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:02:36Z [13,143ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:02:36Z [13,362ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:02:36Z [13,362ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:02:36Z [13,365ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:02:39Z [16,662ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:02:42Z [19,038ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:02:44Z [21,329ms] [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 +2026-11-09T01:02:45Z [22,652ms] [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:0x7170446172f0:World0.usd@ <0x717044381d00>) + +2026-11-09T01:02:45Z [22,652ms] [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:0x7170446172f0:World0.usd@ <0x717044381d00>) + +[INFO]: Time taken for scene creation : 1.652992 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:02:46Z [23,659ms] [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 +2026-11-09T01:02:47Z [24,102ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:02:47Z [24,112ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:02:49Z [26,580ms] [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 +2026-11-09T01:02:49Z [26,580ms] [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 +2026-11-09T01:02:51Z [28,371ms] [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 : 10.058223 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 | ++---------+----------------+ + +2026-11-09T01:02:56Z [33,111ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,111ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,111ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,111ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,111ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,112ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,113ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,113ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,113ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,113ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,113ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,113ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,114ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,115ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,116ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,117ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:02:56Z [33,118ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:02:58Z [35,924ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:03:00Z [37,755ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_19/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 2 PLACE_UNREACHABLE: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 3 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 4 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 5 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 6 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 230) +[ARMS] ep 7 GRASP_LOST: closest 9.4 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 80) +[ARMS] ep 8 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 9 PLACE_UNREACHABLE: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 178) +[ARMS] ep 10 GRASP_LOST: closest 12.8 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 63) +[ARMS] ep 11 GRASP_LOST: closest 10.4 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 91) +[ARMS] ep 12 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 13 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 14 GRASP_LOST: closest 11.8 cm, arm_l_link7 <-> arm_r_link7 (l hold, r idle, tick 88) +[ARMS] ep 15 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 16 NOT_ON_TRAY: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 17 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 178) +[ARMS] ep 18 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l hold, r close, tick 184) +[ARMS] ep 19 NOT_ON_TRAY: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 20 HANDOVER_FAILED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 21 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 22 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 23 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'PLACE_UNREACHABLE': 2, 'GRASP_LOST': 6, 'NOT_ON_TRAY': 2, 'HANDOVER_FAILED': 1}, 644 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p243 (13 successes, 11 failures) diff --git a/logs/vw10k_p246.log b/logs/vw10k_p246.log new file mode 100644 index 0000000000000000000000000000000000000000..7ce8420a665e604bf73c1d0d285f5c5596f08e38 --- /dev/null +++ b/logs/vw10k_p246.log @@ -0,0 +1,325 @@ +[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_20261109_010720.log +2026-11-09T01:07:21Z [550ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:21Z [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) +2026-11-09T01:07:21Z [625ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:07:21Z [626ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:07:21Z [626ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:07:21Z [626ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:07:21Z [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: 3992.88 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. +2026-11-09T01:07:22Z [1,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:22Z [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) +2026-11-09T01:07:27Z [6,986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:07:27Z [6,987ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,991ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,991ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:07:27Z [6,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:07:27Z [6,997ms] [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: 560296 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:07:29Z [8,681ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-09T01:07:30Z [9,453ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:30Z [9,453ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:07:30Z [9,483ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:30Z [9,483ms] [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) +2026-11-09T01:07:30Z [9,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:30Z [9,495ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:07:30Z [9,504ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:30Z [9,504ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:07:30Z [9,505ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:30Z [9,505ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:07:30Z [9,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:07:30Z [9,506ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:07:30Z [9,718ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:07:31Z [10,057ms] [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. +2026-11-09T01:07:31Z [10,065ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:07:34Z [13,236ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:07:34Z [13,459ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:07:34Z [13,459ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:07:34Z [13,460ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:07:37Z [16,767ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:07:40Z [19,318ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:07:42Z [22,023ms] [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 +2026-11-09T01:07:45Z [24,825ms] [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:0x7a5fcff983d0:World0.usd@ <0x7a5b67abede0>) + +2026-11-09T01:07:45Z [24,825ms] [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:0x7a5fcff983d0:World0.usd@ <0x7a5b67abede0>) + +[INFO]: Time taken for scene creation : 3.130107 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:07:46Z [25,939ms] [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 +2026-11-09T01:07:47Z [26,889ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:07:47Z [26,902ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:07:51Z [30,592ms] [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 +2026-11-09T01:07:51Z [30,592ms] [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 +2026-11-09T01:07:53Z [32,868ms] [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 : 14.551643 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 | ++---------+----------------+ + +2026-11-09T01:08:00Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,811ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,812ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,813ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,814ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,815ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,816ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:08:00Z [39,817ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:08:07Z [46,183ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:08:11Z [50,132ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 NOT_ON_TRAY: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 2 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 3 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 237) +[ARMS] ep 4 NOT_ON_TRAY: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 5 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 6 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 7 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 8 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 9 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 10 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 126) +[ARMS] ep 11 MOVING: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 12 NOT_ON_TRAY: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 13 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 14 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 15 MOVING: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 141) +[ARMS] ep 16 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 124) +[ARMS] ep 17 CUP_TIPPED: closest 23.8 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 105) +[ARMS] ep 18 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 19 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 20 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 230) +[ARMS] ep 21 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 22 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 23 MOVING: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[COLLECT] batch 1: 14 ok / 10 failed so far, 24 saved, statuses {'NOT_ON_TRAY': 3, 'OK': 14, 'MOVING': 4, 'GRASP_LOST': 2, 'CUP_TIPPED': 1}, 1588 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p246 (14 successes, 10 failures) diff --git a/logs/vw10k_p249.log b/logs/vw10k_p249.log new file mode 100644 index 0000000000000000000000000000000000000000..a35289b6ba90e951aa97ae02f3b9a7d5579eaa3b --- /dev/null +++ b/logs/vw10k_p249.log @@ -0,0 +1,324 @@ +[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_20261109_011452.log +2026-11-09T01:14:53Z [556ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:53Z [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) +2026-11-09T01:14:53Z [628ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:14:53Z [635ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:14:53Z [635ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:14:53Z [635ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:14:53Z [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: 3992.88 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. +2026-11-09T01:14:53Z [1,382ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:53Z [1,382ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:14:55Z [3,301ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:14:55Z [3,301ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,302ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:14:55Z [3,302ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,303ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:14:55Z [3,303ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,304ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:14:55Z [3,304ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,305ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:14:55Z [3,305ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:14:55Z [3,306ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:14:55Z [3,306ms] [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: 586220 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:14:58Z [5,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:58Z [5,530ms] [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) +2026-11-09T01:14:58Z [5,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:58Z [5,555ms] [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) +2026-11-09T01:14:58Z [5,564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:58Z [5,564ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:14:58Z [5,574ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:58Z [5,574ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:14:58Z [5,575ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:58Z [5,575ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:14:58Z [5,576ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:58Z [5,576ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:14:58Z [5,787ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:14:58Z [6,148ms] [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. +2026-11-09T01:14:58Z [6,157ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:15:01Z [9,400ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:15:02Z [9,750ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:15:02Z [9,750ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:15:02Z [9,751ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:15:05Z [12,857ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:15:07Z [15,343ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:15:10Z [17,642ms] [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 +2026-11-09T01:15:11Z [19,029ms] [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:0x258f80b0:World0.usd@ <0x319a5d00>) + +2026-11-09T01:15:11Z [19,030ms] [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:0x258f80b0:World0.usd@ <0x319a5d00>) + +[INFO]: Time taken for scene creation : 1.721099 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:15:12Z [20,082ms] [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 +2026-11-09T01:15:13Z [20,504ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:15:13Z [20,514ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:15:15Z [22,859ms] [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 +2026-11-09T01:15:15Z [22,859ms] [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 +2026-11-09T01:15:17Z [24,737ms] [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 : 10.047381 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 | ++---------+----------------+ + +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,486ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,487ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,488ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,489ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,490ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,491ms] [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 +2026-11-09T01:15:22Z [29,492ms] [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 +2026-11-09T01:15:22Z [29,492ms] [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 +2026-11-09T01:15:22Z [29,492ms] [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 +2026-11-09T01:15:22Z [29,492ms] [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 +2026-11-09T01:15:22Z [29,492ms] [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 +[INFO]: Completed setting up the environment... +2026-11-09T01:15:24Z [32,300ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:15:26Z [34,148ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 1 NOT_ON_TRAY: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 2 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 143) +[ARMS] ep 3 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 4 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 126) +[ARMS] ep 5 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 154) +[ARMS] ep 6 NOT_ON_TRAY: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 7 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 8 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 9 PLACE_UNREACHABLE: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 339) +[ARMS] ep 10 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 11 HANDOVER_FAILED: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 12 NOT_ON_TRAY: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 13 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 14 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 15 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 16 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 17 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 18 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 19 HANDOVER_FAILED: closest 7.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 20 TILTED: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 21 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 22 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 23 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[COLLECT] batch 1: 11 ok / 13 failed so far, 24 saved, statuses {'OK': 11, 'NOT_ON_TRAY': 3, 'GRASP_LOST': 4, 'MOVING': 2, 'PLACE_UNREACHABLE': 1, 'HANDOVER_FAILED': 2, 'TILTED': 1}, 710 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p249 (11 successes, 13 failures) diff --git a/logs/vw10k_p250.log b/logs/vw10k_p250.log new file mode 100644 index 0000000000000000000000000000000000000000..93e693819778d6568d440ab1e8f9342efe5dbb69 --- /dev/null +++ b/logs/vw10k_p250.log @@ -0,0 +1,324 @@ +[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_20261109_011459.log +2026-11-09T01:14:59Z [559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:14:59Z [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) +2026-11-09T01:14:59Z [628ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:14:59Z [629ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:14:59Z [629ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:14:59Z [629ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:14:59Z [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: 3992.88 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. +2026-11-09T01:15:00Z [1,069ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:00Z [1,070ms] [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) +2026-11-09T01:15:01Z [2,781ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:15:01Z [2,781ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,782ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:15:01Z [2,782ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,783ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:01Z [2,783ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,785ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:01Z [2,785ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:01Z [2,786ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:01Z [2,786ms] [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: 583731 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:15:04Z [5,296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:04Z [5,296ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:04Z [5,320ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:04Z [5,320ms] [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) +2026-11-09T01:15:04Z [5,329ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:04Z [5,330ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:04Z [5,339ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:04Z [5,339ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:04Z [5,340ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:04Z [5,340ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:04Z [5,341ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:04Z [5,341ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:04Z [5,552ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:15:05Z [5,912ms] [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. +2026-11-09T01:15:05Z [5,921ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:15:08Z [9,316ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:15:08Z [9,454ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:15:08Z [9,454ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:15:08Z [9,455ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:15:11Z [12,716ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:15:14Z [15,089ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:15:16Z [17,495ms] [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 +2026-11-09T01:15:18Z [18,917ms] [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:0x1c9f9100:World0.usd@ <0x28ac5d70>) + +2026-11-09T01:15:18Z [18,918ms] [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:0x1c9f9100:World0.usd@ <0x28ac5d70>) + +[INFO]: Time taken for scene creation : 1.790585 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:15:19Z [20,009ms] [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 +2026-11-09T01:15:19Z [20,442ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:15:19Z [20,453ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:15:21Z [22,809ms] [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 +2026-11-09T01:15:21Z [22,809ms] [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 +2026-11-09T01:15:23Z [24,741ms] [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 : 10.386760 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 | ++---------+----------------+ + +2026-11-09T01:15:28Z [29,753ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,753ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,753ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,753ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,754ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,755ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,756ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,757ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:15:28Z [29,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:15:31Z [32,571ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:15:33Z [34,398ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_23/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 139) +[ARMS] ep 1 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 2 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 3 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 4 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 142) +[ARMS] ep 5 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 6 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 7 MOVING: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 8 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 9 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 10 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 151) +[ARMS] ep 11 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 126) +[ARMS] ep 12 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 13 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 14 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 15 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 16 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 131) +[ARMS] ep 17 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 136) +[ARMS] ep 18 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 19 OK: closest 7.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 20 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 21 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 22 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 124) +[ARMS] ep 23 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 235) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'GRASP_LOST': 8, 'OK': 15, 'MOVING': 1}, 621 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p250 (15 successes, 9 failures) diff --git a/logs/vw10k_p251.log b/logs/vw10k_p251.log new file mode 100644 index 0000000000000000000000000000000000000000..f0632f2ec6716641248eaae000ded6749cfb35c7 --- /dev/null +++ b/logs/vw10k_p251.log @@ -0,0 +1,325 @@ +[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_20261109_011544.log +2026-11-09T01:15:45Z [524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:45Z [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) +2026-11-09T01:15:45Z [595ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:15:45Z [596ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:15:45Z [596ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:15:45Z [596ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:15:45Z [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: 3992.88 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. +2026-11-09T01:15:45Z [963ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:45Z [963ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:47Z [2,892ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:15:47Z [2,892ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,896ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,896ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,901ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,901ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,903ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,903ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,905ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,905ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:15:47Z [2,906ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:15:47Z [2,906ms] [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: 579314 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:15:53Z [8,487ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-09T01:15:54Z [9,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:54Z [9,221ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:54Z [9,252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:54Z [9,252ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:54Z [9,263ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:54Z [9,263ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:54Z [9,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:54Z [9,273ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:54Z [9,275ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:54Z [9,275ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:15:54Z [9,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:15:54Z [9,276ms] [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) +2026-11-09T01:15:54Z [9,502ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:15:54Z [9,882ms] [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. +2026-11-09T01:15:54Z [9,891ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:15:58Z [13,029ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:15:58Z [13,212ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:15:58Z [13,213ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:15:58Z [13,214ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:16:01Z [16,556ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:16:04Z [19,092ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:16:06Z [21,386ms] [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 +2026-11-09T01:16:08Z [23,398ms] [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:0x1a649930:World0.usd@ <0x26732c40>) + +2026-11-09T01:16:08Z [23,398ms] [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:0x1a649930:World0.usd@ <0x26732c40>) + +[INFO]: Time taken for scene creation : 2.342237 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:16:09Z [24,424ms] [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 +2026-11-09T01:16:10Z [25,144ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:16:10Z [25,158ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:16:12Z [27,858ms] [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 +2026-11-09T01:16:12Z [27,858ms] [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 +2026-11-09T01:16:14Z [29,959ms] [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 : 11.960627 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 | ++---------+----------------+ + +2026-11-09T01:16:20Z [35,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,775ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,776ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,777ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,778ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,779ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,780ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:16:20Z [35,781ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:16:24Z [39,883ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:16:28Z [43,213ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_17/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 149) +[ARMS] ep 2 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 3 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 4 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 5 OK: closest 4.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 6 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 7 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 8 OK: closest 7.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 9 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 10 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 11 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 225) +[ARMS] ep 12 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 230) +[ARMS] ep 13 MOVING: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 14 OK: closest 4.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 15 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 16 NOT_ON_TRAY: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 17 PLACE_UNREACHABLE: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 238) +[ARMS] ep 18 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 221) +[ARMS] ep 19 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 203) +[ARMS] ep 20 MOVING: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 220) +[ARMS] ep 21 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 139) +[ARMS] ep 22 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 23 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 136) +[COLLECT] batch 1: 14 ok / 10 failed so far, 24 saved, statuses {'OK': 14, 'GRASP_LOST': 6, 'MOVING': 2, 'NOT_ON_TRAY': 1, 'PLACE_UNREACHABLE': 1}, 1810 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p251 (14 successes, 10 failures) diff --git a/logs/vw10k_p261.log b/logs/vw10k_p261.log new file mode 100644 index 0000000000000000000000000000000000000000..97246273acc3f257837cb88d695b1dd798a626a5 --- /dev/null +++ b/logs/vw10k_p261.log @@ -0,0 +1,324 @@ +[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_20261109_013554.log +2026-11-09T01:35:55Z [525ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:35:55Z [525ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:35:55Z [594ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:35:55Z [595ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:35:55Z [599ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:35:55Z [599ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:35:55Z [615ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T01:35:55Z [1,024ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:35:55Z [1,024ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:35:57Z [2,302ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:35:57Z [2,302ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,303ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:35:57Z [2,303ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,305ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:35:57Z [2,305ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,306ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:35:57Z [2,306ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,307ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:35:57Z [2,307ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:35:57Z [2,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:35:57Z [2,308ms] [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: 557993 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:36:03Z [8,797ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:36:03Z [8,797ms] [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) +2026-11-09T01:36:03Z [8,819ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:36:03Z [8,819ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:36:03Z [8,827ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:36:03Z [8,827ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:36:03Z [8,837ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:36:03Z [8,837ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:36:03Z [8,838ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:36:03Z [8,838ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:36:03Z [8,839ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:36:03Z [8,839ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:36:03Z [9,050ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:36:04Z [9,469ms] [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. +2026-11-09T01:36:04Z [9,477ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:36:07Z [12,734ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:36:07Z [13,001ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:36:07Z [13,001ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:36:07Z [13,004ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:36:11Z [16,337ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:36:13Z [18,791ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:36:16Z [21,424ms] [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 +2026-11-09T01:36:17Z [22,820ms] [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:0x3e7233a0:World0.usd@ <0x7dfd4c9f46f0>) + +2026-11-09T01:36:17Z [22,820ms] [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:0x3e7233a0:World0.usd@ <0x7dfd4c9f46f0>) + +[INFO]: Time taken for scene creation : 1.727294 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:36:18Z [23,806ms] [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 +2026-11-09T01:36:19Z [24,230ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:36:19Z [24,241ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:36:21Z [26,653ms] [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 +2026-11-09T01:36:21Z [26,653ms] [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 +2026-11-09T01:36:23Z [28,434ms] [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 : 9.978933 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 | ++---------+----------------+ + +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,203ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,204ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,205ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,206ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:36:28Z [33,207ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:36:30Z [36,076ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:36:32Z [37,987ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 217) +[ARMS] ep 1 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 2 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 3 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 216) +[ARMS] ep 4 TILTED: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 5 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 6 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 7 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 8 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 9 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 10 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 11 CUP_TIPPED: closest 16.7 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 88) +[ARMS] ep 12 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 13 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 14 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 15 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 16 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 17 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 18 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 19 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 20 TILTED: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 21 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 22 MOVING: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 23 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[COLLECT] batch 1: 20 ok / 4 failed so far, 24 saved, statuses {'OK': 20, 'TILTED': 2, 'CUP_TIPPED': 1, 'MOVING': 1}, 744 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p261 (20 successes, 4 failures) diff --git a/logs/vw10k_p263.log b/logs/vw10k_p263.log new file mode 100644 index 0000000000000000000000000000000000000000..51a5c3315274550a8946f155512268bd8b5a0a44 --- /dev/null +++ b/logs/vw10k_p263.log @@ -0,0 +1,324 @@ +[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_20261109_013815.log +2026-11-09T01:38:16Z [528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:16Z [528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:38:16Z [611ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:38:16Z [612ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:38:16Z [612ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:38:16Z [612ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:38:16Z [635ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T01:38:16Z [1,039ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:16Z [1,039ms] [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) +2026-11-09T01:38:18Z [2,776ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:38:18Z [2,776ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,777ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:38:18Z [2,777ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,779ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:38:18Z [2,779ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,781ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:38:18Z [2,781ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,783ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:38:18Z [2,784ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:38:18Z [2,784ms] [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: 576170 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:38:24Z [8,381ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:24Z [8,381ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:38:24Z [8,407ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:24Z [8,407ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:38:24Z [8,418ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:24Z [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) +2026-11-09T01:38:24Z [8,427ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:24Z [8,427ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:38:24Z [8,428ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:24Z [8,428ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:38:24Z [8,429ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:38:24Z [8,429ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:38:24Z [8,644ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:38:24Z [9,007ms] [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. +2026-11-09T01:38:24Z [9,015ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:38:28Z [12,331ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:38:28Z [12,516ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:38:28Z [12,516ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:38:28Z [12,518ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:38:31Z [16,002ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:38:34Z [18,440ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:38:36Z [20,698ms] [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 +2026-11-09T01:38:37Z [22,091ms] [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:0x2f8b9510:World0.usd@ <0x3b985c40>) + +2026-11-09T01:38:37Z [22,091ms] [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:0x2f8b9510:World0.usd@ <0x3b985c40>) + +[INFO]: Time taken for scene creation : 1.762991 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:38:38Z [23,111ms] [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 +2026-11-09T01:38:39Z [23,532ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:38:39Z [23,543ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:38:41Z [26,003ms] [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 +2026-11-09T01:38:41Z [26,003ms] [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 +2026-11-09T01:38:43Z [27,841ms] [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 : 10.174555 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 | ++---------+----------------+ + +2026-11-09T01:38:48Z [32,689ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,689ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,689ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,689ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,689ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,690ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,691ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,692ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:38:48Z [32,693ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:38:50Z [34,752ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:38:53Z [37,351ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_12/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 5.7 cm, gripper_l_rh_p12_rn_l2 <-> arm_r_link7 (l retreat, r hold, tick 227) +[ARMS] ep 2 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 3 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 4 NOT_ON_TRAY: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 5 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 147) +[ARMS] ep 6 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 137) +[ARMS] ep 7 TILTED: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 8 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 9 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 10 MOVING: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 11 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 12 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 13 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 14 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 15 TILTED: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 16 TILTED: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 17 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 18 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 19 NOT_ON_TRAY: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 173) +[ARMS] ep 20 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 254) +[ARMS] ep 21 HANDOVER_FAILED: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 22 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 23 PLACE_UNREACHABLE: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 321) +[COLLECT] batch 1: 10 ok / 14 failed so far, 24 saved, statuses {'OK': 10, 'NOT_ON_TRAY': 2, 'GRASP_LOST': 6, 'TILTED': 3, 'MOVING': 1, 'HANDOVER_FAILED': 1, 'PLACE_UNREACHABLE': 1}, 667 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p263 (10 successes, 14 failures) diff --git a/logs/vw10k_p265.log b/logs/vw10k_p265.log new file mode 100644 index 0000000000000000000000000000000000000000..f37702d619a2fc915b98a3834a7b5f496ad5ce39 --- /dev/null +++ b/logs/vw10k_p265.log @@ -0,0 +1,325 @@ +[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_20261109_014511.log +2026-11-09T01:45:12Z [521ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:12Z [521ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:12Z [594ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:45:12Z [602ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:45:12Z [602ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:45:12Z [602ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:45:12Z [618ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T01:45:12Z [958ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:12Z [958ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:13Z [2,316ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:45:13Z [2,316ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:13Z [2,369ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:13Z [2,369ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,515ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,515ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,528ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,528ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,531ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,532ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:45:14Z [2,533ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:45:14Z [2,533ms] [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: 539387 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:45:19Z [7,746ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-09T01:45:20Z [8,565ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:20Z [8,565ms] [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) +2026-11-09T01:45:20Z [8,590ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:20Z [8,590ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:20Z [8,600ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:20Z [8,600ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:20Z [8,610ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:20Z [8,610ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:20Z [8,611ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:20Z [8,611ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:20Z [8,612ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:45:20Z [8,612ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:45:20Z [8,828ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:45:20Z [9,215ms] [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. +2026-11-09T01:45:20Z [9,224ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:45:24Z [12,476ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:45:24Z [12,694ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:45:24Z [12,694ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:45:24Z [12,700ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:45:27Z [15,989ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:45:29Z [18,427ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:45:32Z [20,688ms] [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 +2026-11-09T01:45:33Z [22,112ms] [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:0x38867410:World0.usd@ <0x783d31cb6280>) + +2026-11-09T01:45:33Z [22,113ms] [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:0x38867410:World0.usd@ <0x783d31cb6280>) + +[INFO]: Time taken for scene creation : 1.761432 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:45:34Z [23,142ms] [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 +2026-11-09T01:45:35Z [23,581ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:45:35Z [23,592ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:45:37Z [25,940ms] [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 +2026-11-09T01:45:37Z [25,940ms] [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 +2026-11-09T01:45:39Z [27,806ms] [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 : 9.993661 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 | ++---------+----------------+ + +2026-11-09T01:45:44Z [32,516ms] [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 +2026-11-09T01:45:44Z [32,516ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,517ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,518ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,519ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,520ms] [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 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:45:44Z [32,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:45:46Z [35,394ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:45:48Z [37,363ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 GRASP_LOST: closest 10.4 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 54) +[ARMS] ep 1 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 2 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 150) +[ARMS] ep 3 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 142) +[ARMS] ep 4 NOT_ON_TRAY: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 5 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 6 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 7 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 8 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 9 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 225) +[ARMS] ep 10 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 11 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 12 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 13 OK: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 14 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 15 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 16 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 211) +[ARMS] ep 17 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 18 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 19 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 20 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 21 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 22 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 23 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 248) +[COLLECT] batch 1: 20 ok / 4 failed so far, 24 saved, statuses {'GRASP_LOST': 3, 'OK': 20, 'NOT_ON_TRAY': 1}, 1657 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p265 (20 successes, 4 failures) diff --git a/logs/vw10k_p270.log b/logs/vw10k_p270.log new file mode 100644 index 0000000000000000000000000000000000000000..ab3bcb202a8212d8b2c53a865c200b72364bab2a --- /dev/null +++ b/logs/vw10k_p270.log @@ -0,0 +1,324 @@ +[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_20261109_015016.log +2026-11-09T01:50:17Z [524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:17Z [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) +2026-11-09T01:50:17Z [602ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T01:50:17Z [603ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T01:50:17Z [603ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T01:50:17Z [603ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T01:50:17Z [629ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T01:50:17Z [1,068ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:17Z [1,068ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:50:19Z [2,905ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:50:19Z [2,905ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,907ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:50:19Z [2,907ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,962ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:50:19Z [2,963ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,967ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:50:19Z [2,967ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,969ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:50:19Z [2,970ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,970ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:50:19Z [2,970ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T01:50:19Z [2,970ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T01:50:19Z [2,970ms] [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: 584103 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T01:50:25Z [8,861ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:25Z [8,861ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:50:25Z [8,883ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:25Z [8,883ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:50:25Z [8,891ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:25Z [8,891ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:50:25Z [8,900ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:25Z [8,901ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:50:25Z [8,902ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:25Z [8,902ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T01:50:25Z [8,903ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T01:50:25Z [8,903ms] [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) +2026-11-09T01:50:25Z [9,109ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T01:50:26Z [9,448ms] [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. +2026-11-09T01:50:26Z [9,456ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T01:50:29Z [12,634ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T01:50:29Z [12,832ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T01:50:29Z [12,832ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T01:50:29Z [12,833ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T01:50:32Z [16,091ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T01:50:35Z [18,539ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T01:50:37Z [20,726ms] [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 +2026-11-09T01:50:38Z [22,148ms] [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:0x15899ff0:World0.usd@ <0x219662d0>) + +2026-11-09T01:50:38Z [22,148ms] [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:0x15899ff0:World0.usd@ <0x219662d0>) + +[INFO]: Time taken for scene creation : 1.758230 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T01:50:39Z [23,156ms] [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 +2026-11-09T01:50:40Z [23,579ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:50:40Z [23,589ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:50:42Z [25,903ms] [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 +2026-11-09T01:50:42Z [25,903ms] [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 +2026-11-09T01:50:44Z [27,815ms] [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 : 10.058762 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 | ++---------+----------------+ + +2026-11-09T01:50:49Z [32,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,614ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,615ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,616ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,617ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,618ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,619ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T01:50:49Z [32,620ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T01:50:52Z [35,406ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T01:50:54Z [37,274ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 1 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 2 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 3 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 4 NOT_ON_TRAY: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 5 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 6 NOT_ON_TRAY: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 7 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 8 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 9 OK: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 10 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 11 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 12 GRASP_LOST: closest 9.2 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 54) +[ARMS] ep 13 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 14 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 15 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 16 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 134) +[ARMS] ep 17 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 221) +[ARMS] ep 18 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 19 OK: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 20 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 21 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 22 GRASP_LOST: closest 12.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l move, r reach, tick 127) +[ARMS] ep 23 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'OK': 15, 'GRASP_LOST': 7, 'NOT_ON_TRAY': 2}, 660 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p270 (15 successes, 9 failures) diff --git a/logs/vw10k_p275.log b/logs/vw10k_p275.log new file mode 100644 index 0000000000000000000000000000000000000000..9cb2a5429e3615c7f016facccb85ed7e5b168d96 --- /dev/null +++ b/logs/vw10k_p275.log @@ -0,0 +1,324 @@ +[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_20261109_020213.log +2026-11-09T02:02:14Z [564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:14Z [564ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:14Z [637ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:02:14Z [638ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:02:14Z [638ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:02:14Z [638ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:02:14Z [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: 3992.88 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. +2026-11-09T02:02:14Z [1,019ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:14Z [1,019ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:16Z [2,310ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:02:16Z [2,310ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,312ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:02:16Z [2,312ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,313ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:02:16Z [2,313ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,315ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:02:16Z [2,315ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:02:16Z [2,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:02:16Z [2,317ms] [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: 568432 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:02:22Z [8,390ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:22Z [8,390ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:22Z [8,413ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:22Z [8,413ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:22Z [8,421ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:22Z [8,421ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:22Z [8,431ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:22Z [8,431ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:22Z [8,432ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:22Z [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) +2026-11-09T02:02:22Z [8,433ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:02:22Z [8,433ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:02:22Z [8,646ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:02:22Z [9,198ms] [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. +2026-11-09T02:02:22Z [9,206ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:02:26Z [12,446ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:02:26Z [12,747ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:02:26Z [12,747ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:02:26Z [12,748ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:02:29Z [16,072ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T02:02:32Z [18,471ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:02:34Z [20,795ms] [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 +2026-11-09T02:02:35Z [22,155ms] [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:0x772a8d0be770:World0.usd@ <0x772623139490>) + +2026-11-09T02:02:35Z [22,155ms] [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:0x772a8d0be770:World0.usd@ <0x772623139490>) + +[INFO]: Time taken for scene creation : 1.701673 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:02:36Z [23,167ms] [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 +2026-11-09T02:02:37Z [23,617ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:02:37Z [23,628ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:02:39Z [25,920ms] [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 +2026-11-09T02:02:39Z [25,920ms] [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 +2026-11-09T02:02:43Z [29,507ms] [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 : 11.675980 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 | ++---------+----------------+ + +2026-11-09T02:02:47Z [34,245ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,245ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,245ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,246ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,247ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,248ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,249ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,250ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:02:47Z [34,251ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:02:50Z [36,964ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:02:52Z [38,817ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_floor + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 2 NOT_ON_TRAY: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 3 NOT_ON_TRAY: closest 4.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 4 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 5 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 128) +[ARMS] ep 6 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 0) +[ARMS] ep 7 MOVING: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 8 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 9 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 10 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 167) +[ARMS] ep 11 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 12 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 13 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 14 PLACE_UNREACHABLE: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 15 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 16 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 130) +[ARMS] ep 17 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[ARMS] ep 18 TILTED: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 19 NOT_ON_TRAY: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 20 GRASP_LOST: closest 12.1 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l2 (l close, r idle, tick 46) +[ARMS] ep 21 NOT_ON_TRAY: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 22 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 23 MOVING: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[COLLECT] batch 1: 10 ok / 14 failed so far, 24 saved, statuses {'OK': 10, 'NOT_ON_TRAY': 4, 'GRASP_LOST': 5, 'CUP_TIPPED': 1, 'MOVING': 2, 'PLACE_UNREACHABLE': 1, 'TILTED': 1}, 664 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p275 (10 successes, 14 failures) diff --git a/logs/vw10k_p276.log b/logs/vw10k_p276.log new file mode 100644 index 0000000000000000000000000000000000000000..25ae39cf97191c0d853852f7692a03d78c9f7d22 --- /dev/null +++ b/logs/vw10k_p276.log @@ -0,0 +1,323 @@ +[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_20261109_020301.log +2026-11-09T02:03:01Z [536ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:01Z [536ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:03:01Z [607ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:03:01Z [609ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:03:01Z [609ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:03:01Z [609ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:03:01Z [633ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T02:03:02Z [1,068ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:02Z [1,068ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:03:04Z [2,977ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:03:04Z [2,977ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,978ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:03:04Z [2,978ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,980ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:03:04Z [2,980ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,982ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:03:04Z [2,982ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,984ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:03:04Z [2,984ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:03:04Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:03:04Z [2,985ms] [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: 573073 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:03:11Z [10,730ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:11Z [10,730ms] [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) +2026-11-09T02:03:12Z [11,710ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:12Z [11,710ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:03:13Z [11,971ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:13Z [11,971ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:03:13Z [11,993ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:13Z [11,993ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:03:13Z [11,995ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:13Z [11,995ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:03:13Z [11,996ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:03:13Z [11,996ms] [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) +2026-11-09T02:03:13Z [12,533ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:03:14Z [12,873ms] [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. +2026-11-09T02:03:14Z [12,882ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:03:20Z [19,234ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:03:21Z [20,277ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:03:21Z [20,277ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:03:21Z [20,278ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:03:27Z [26,062ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:03:29Z [28,235ms] [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 +2026-11-09T02:03:30Z [29,672ms] [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:0x202ea6d0:World0.usd@ <0x2c3b8dc0>) + +2026-11-09T02:03:30Z [29,672ms] [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:0x202ea6d0:World0.usd@ <0x2c3b8dc0>) + +[INFO]: Time taken for scene creation : 1.794290 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:03:32Z [30,752ms] [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 +2026-11-09T02:03:32Z [31,166ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:03:32Z [31,177ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:03:34Z [33,674ms] [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 +2026-11-09T02:03:34Z [33,674ms] [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 +2026-11-09T02:03:44Z [43,667ms] [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 : 24.981563 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 | ++---------+----------------+ + +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,063ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,064ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,065ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:03:56Z [55,066ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:03:59Z [58,630ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:04:01Z [59,800ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_16/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 1 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 131) +[ARMS] ep 2 CUP_TIPPED: closest 15.8 cm, arm_l_link7 <-> arm_r_link7 (l open, r idle, tick 88) +[ARMS] ep 3 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 133) +[ARMS] ep 4 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 4) +[ARMS] ep 5 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 169) +[ARMS] ep 6 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 7 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 262) +[ARMS] ep 8 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 9 PLACE_UNREACHABLE: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 10 TILTED: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 11 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 12 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 13 OK: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 14 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 146) +[ARMS] ep 15 MOVING: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 16 GRASP_LOST: closest 11.7 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l1 (l close, r idle, tick 53) +[ARMS] ep 17 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 18 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 19 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 20 MOVING: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 21 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 215) +[ARMS] ep 22 MOVING: closest 7.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 23 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[COLLECT] batch 1: 13 ok / 11 failed so far, 24 saved, statuses {'OK': 13, 'GRASP_LOST': 4, 'CUP_TIPPED': 2, 'PLACE_UNREACHABLE': 1, 'TILTED': 1, 'MOVING': 3}, 662 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p276 (13 successes, 11 failures) diff --git a/logs/vw10k_p280.log b/logs/vw10k_p280.log new file mode 100644 index 0000000000000000000000000000000000000000..2d94094a67c4fd8d563588841859562fe6ccb5a8 --- /dev/null +++ b/logs/vw10k_p280.log @@ -0,0 +1,325 @@ +[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_20261109_021355.log +2026-11-09T02:13:56Z [560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:13:56Z [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) +2026-11-09T02:13:56Z [628ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:13:56Z [629ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:13:56Z [629ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:13:56Z [629ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:13:56Z [652ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T02:13:56Z [963ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:13:56Z [963ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:13:58Z [2,402ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:13:58Z [2,402ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,449ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,449ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,497ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,497ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,505ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,505ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,642ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,642ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:13:58Z [2,643ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:13:58Z [2,643ms] [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: 559025 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:14:03Z [7,751ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-09T02:14:04Z [8,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:04Z [8,548ms] [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) +2026-11-09T02:14:04Z [8,570ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:04Z [8,570ms] [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) +2026-11-09T02:14:04Z [8,580ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:04Z [8,580ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:14:04Z [8,590ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:04Z [8,590ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:14:04Z [8,591ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:04Z [8,591ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:14:04Z [8,592ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:04Z [8,592ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:14:04Z [8,816ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:14:04Z [9,205ms] [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. +2026-11-09T02:14:04Z [9,213ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:14:08Z [12,441ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:14:08Z [12,684ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:14:08Z [12,684ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:14:08Z [12,685ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:14:11Z [15,896ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T02:14:14Z [18,357ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:14:16Z [20,759ms] [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 +2026-11-09T02:14:18Z [22,395ms] [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:0x77137f206b20:World0.usd@ <0x770f0ff33bf0>) + +2026-11-09T02:14:18Z [22,395ms] [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:0x77137f206b20:World0.usd@ <0x770f0ff33bf0>) + +[INFO]: Time taken for scene creation : 1.955068 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:14:22Z [26,896ms] [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 +2026-11-09T02:14:23Z [27,414ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:14:23Z [27,426ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:14:25Z [30,043ms] [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 +2026-11-09T02:14:25Z [30,043ms] [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 +2026-11-09T02:14:27Z [31,893ms] [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 : 21.840118 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 | ++---------+----------------+ + +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,647ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,648ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,649ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,650ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:14:40Z [44,651ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:14:46Z [50,907ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:14:50Z [54,751ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_22/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 2 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 3 PLACE_UNREACHABLE: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 4 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 5 NOT_ON_TRAY: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 6 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 7 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 8 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 9 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 146) +[ARMS] ep 10 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 11 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 12 NOT_ON_TRAY: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 13 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 14 OK: closest 7.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 15 MOVING: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 16 PLACE_UNREACHABLE: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 17 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 220) +[ARMS] ep 18 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 19 CUP_TIPPED: closest 27.8 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 11) +[ARMS] ep 20 NOT_ON_TRAY: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 21 PLACE_UNREACHABLE: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 22 CUP_TIPPED: closest 28.3 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 2) +[ARMS] ep 23 HANDOVER_FAILED: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[COLLECT] batch 1: 12 ok / 12 failed so far, 24 saved, statuses {'OK': 12, 'PLACE_UNREACHABLE': 3, 'NOT_ON_TRAY': 3, 'GRASP_LOST': 1, 'CUP_TIPPED': 3, 'MOVING': 1, 'HANDOVER_FAILED': 1}, 1678 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p280 (12 successes, 12 failures) diff --git a/logs/vw10k_p283.log b/logs/vw10k_p283.log new file mode 100644 index 0000000000000000000000000000000000000000..7fc699f174b4531b2ba87a7d0018154128de1088 --- /dev/null +++ b/logs/vw10k_p283.log @@ -0,0 +1,325 @@ +[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_20261109_021450.log +2026-11-09T02:14:51Z [529ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:51Z [529ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:14:51Z [601ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:14:51Z [602ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:14:51Z [602ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:14:51Z [602ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:14:51Z [629ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T02:14:51Z [1,084ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:51Z [1,084ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:14:53Z [2,997ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:14:53Z [2,997ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,058ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,059ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,108ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,108ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,219ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,219ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,219ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:14:53Z [3,220ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:14:53Z [3,220ms] [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: 600405 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:15:04Z [13,675ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 +2026-11-09T02:15:05Z [15,042ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:05Z [15,042ms] [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) +2026-11-09T02:15:05Z [15,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:05Z [15,085ms] [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) +2026-11-09T02:15:05Z [15,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:05Z [15,112ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:15:05Z [15,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:05Z [15,122ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:15:05Z [15,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:05Z [15,123ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:15:05Z [15,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:05Z [15,124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:15:05Z [15,349ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:15:06Z [15,687ms] [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. +2026-11-09T02:15:06Z [15,695ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:15:09Z [18,808ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:15:09Z [19,002ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:15:09Z [19,002ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:15:09Z [19,003ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:15:12Z [22,294ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T02:15:15Z [24,756ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:15:17Z [27,003ms] [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 +2026-11-09T02:15:20Z [29,984ms] [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:0x1d8499f0:World0.usd@ <0x29930640>) + +2026-11-09T02:15:20Z [29,984ms] [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:0x1d8499f0:World0.usd@ <0x29930640>) + +[INFO]: Time taken for scene creation : 3.311212 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:15:21Z [31,113ms] [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 +2026-11-09T02:15:22Z [32,088ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:15:22Z [32,102ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:15:31Z [40,895ms] [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 +2026-11-09T02:15:31Z [40,895ms] [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 +2026-11-09T02:15:35Z [44,480ms] [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 : 21.112139 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 | ++---------+----------------+ + +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,519ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,520ms] [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 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,521ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,522ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,523ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:42Z [51,524ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:15:48Z [57,909ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:15:52Z [61,842ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_back + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 1 OK: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 2 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 3 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 4 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 5 PLACE_UNREACHABLE: closest 7.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 210) +[ARMS] ep 6 OK: closest 6.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 7 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 212) +[ARMS] ep 8 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 9 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 232) +[ARMS] ep 10 MOVING: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 11 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 12 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 13 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[ARMS] ep 14 HANDOVER_FAILED: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 212) +[ARMS] ep 15 HANDOVER_FAILED: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 16 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 17 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 18 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 144) +[ARMS] ep 19 OK: closest 7.0 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l hold, r close, tick 181) +[ARMS] ep 20 NOT_ON_TRAY: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 21 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 148) +[ARMS] ep 22 OK: closest 5.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[ARMS] ep 23 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 157) +[COLLECT] batch 1: 18 ok / 6 failed so far, 24 saved, statuses {'OK': 18, 'PLACE_UNREACHABLE': 1, 'MOVING': 1, 'HANDOVER_FAILED': 2, 'GRASP_LOST': 1, 'NOT_ON_TRAY': 1}, 1487 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p283 (18 successes, 6 failures) diff --git a/logs/vw10k_p284.log b/logs/vw10k_p284.log new file mode 100644 index 0000000000000000000000000000000000000000..1ba8fcebdf92f987a7d39eeaeedf2886f61dc8b1 --- /dev/null +++ b/logs/vw10k_p284.log @@ -0,0 +1,324 @@ +[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_20261109_021452.log +2026-11-09T02:14:53Z [556ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:14:53Z [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) +2026-11-09T02:14:53Z [629ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:14:53Z [632ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:14:53Z [632ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:14:53Z [632ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:14:53Z [737ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3992.88 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. +2026-11-09T02:15:04Z [11,375ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:04Z [11,375ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:15:05Z [12,736ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:15:05Z [12,736ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,738ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:15:05Z [12,738ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,739ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:15:05Z [12,739ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,740ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:15:05Z [12,741ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,742ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:15:05Z [12,742ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:15:05Z [12,743ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:15:05Z [12,743ms] [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: 611727 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:15:06Z [14,001ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:06Z [14,001ms] [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) +2026-11-09T02:15:06Z [14,023ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:06Z [14,023ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:15:06Z [14,033ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:06Z [14,034ms] [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) +2026-11-09T02:15:06Z [14,044ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:06Z [14,044ms] [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) +2026-11-09T02:15:06Z [14,046ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:06Z [14,046ms] [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) +2026-11-09T02:15:06Z [14,047ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:15:06Z [14,047ms] [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) +2026-11-09T02:15:07Z [14,266ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:15:07Z [14,607ms] [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. +2026-11-09T02:15:07Z [14,615ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:15:10Z [17,915ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:15:11Z [18,207ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:15:11Z [18,207ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:15:11Z [18,208ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:15:14Z [21,418ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T02:15:16Z [23,811ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:15:18Z [26,024ms] [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 +2026-11-09T02:15:20Z [27,409ms] [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:0xfbc3b30:World0.usd@ <0x1bc91cc0>) + +2026-11-09T02:15:20Z [27,409ms] [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:0xfbc3b30:World0.usd@ <0x1bc91cc0>) + +[INFO]: Time taken for scene creation : 1.710598 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:15:21Z [28,401ms] [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 +2026-11-09T02:15:21Z [28,806ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:15:21Z [28,817ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:15:25Z [32,308ms] [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 +2026-11-09T02:15:25Z [32,308ms] [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 +2026-11-09T02:15:31Z [38,448ms] [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 : 15.732175 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 | ++---------+----------------+ + +2026-11-09T02:15:36Z [43,543ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,543ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,544ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,545ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,546ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,547ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,548ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:15:36Z [43,549ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:15:39Z [46,757ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:15:41Z [48,238ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_19/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 NOT_ON_TRAY: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 1 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 140) +[ARMS] ep 2 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 3 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 141) +[ARMS] ep 4 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 5 MOVING: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 6 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 172) +[ARMS] ep 7 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 8 PLACE_UNREACHABLE: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 226) +[ARMS] ep 9 OK: closest 5.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 230) +[ARMS] ep 10 HANDOVER_FAILED: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 152) +[ARMS] ep 11 CUP_TIPPED: closest 20.3 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 86) +[ARMS] ep 12 CUP_TIPPED: closest 24.8 cm, arm_l_link7 <-> arm_r_link5 (l hold, r idle, tick 113) +[ARMS] ep 13 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 163) +[ARMS] ep 14 PLACE_UNREACHABLE: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 15 TILTED: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 16 MOVING: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 17 OK: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 236) +[ARMS] ep 18 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 19 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 152) +[ARMS] ep 20 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 21 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 158) +[ARMS] ep 22 HANDOVER_FAILED: closest 7.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 170) +[ARMS] ep 23 TILTED: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[COLLECT] batch 1: 10 ok / 14 failed so far, 24 saved, statuses {'NOT_ON_TRAY': 1, 'GRASP_LOST': 3, 'OK': 10, 'MOVING': 2, 'PLACE_UNREACHABLE': 2, 'HANDOVER_FAILED': 2, 'CUP_TIPPED': 2, 'TILTED': 2}, 596 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p284 (10 successes, 14 failures) diff --git a/logs/vw10k_p287.log b/logs/vw10k_p287.log new file mode 100644 index 0000000000000000000000000000000000000000..04e45cd316841edce60bfea7f43dcba0e9c48b15 --- /dev/null +++ b/logs/vw10k_p287.log @@ -0,0 +1,324 @@ +[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_20261109_022553.log +2026-11-09T02:25:54Z [526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:25:54Z [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) +2026-11-09T02:25:54Z [615ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:25:54Z [622ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:25:54Z [622ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:25:54Z [622ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:25:54Z [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: 3992.88 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. +2026-11-09T02:25:54Z [1,032ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:25:54Z [1,032ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:25:56Z [2,705ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:25:56Z [2,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,707ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:25:56Z [2,707ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,707ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:25:56Z [2,707ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:25:56Z [2,709ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,709ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:25:56Z [2,709ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:25:56Z [2,711ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:25:56Z [2,711ms] [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: 557725 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:26:01Z [8,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:01Z [8,235ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:01Z [8,260ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:01Z [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) +2026-11-09T02:26:01Z [8,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:01Z [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) +2026-11-09T02:26:02Z [8,280ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:02Z [8,281ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:02Z [8,282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:02Z [8,282ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:02Z [8,283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:02Z [8,283ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:02Z [8,502ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:26:02Z [9,024ms] [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. +2026-11-09T02:26:02Z [9,033ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:26:05Z [12,210ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:26:06Z [12,424ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:26:06Z [12,424ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:26:06Z [12,426ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:26:09Z [15,542ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T02:26:11Z [17,933ms] [Warning] [omni.fabric.plugin] Warning: attribute resolution not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:26:13Z [20,138ms] [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 +2026-11-09T02:26:15Z [21,544ms] [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:0x70d56f384140:World0.usd@ <0x70d1868a5220>) + +2026-11-09T02:26:15Z [21,544ms] [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:0x70d56f384140:World0.usd@ <0x70d1868a5220>) + +[INFO]: Time taken for scene creation : 1.737111 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:26:16Z [22,547ms] [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 +2026-11-09T02:26:16Z [22,966ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:26:16Z [22,978ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:26:18Z [25,262ms] [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 +2026-11-09T02:26:18Z [25,262ms] [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 +2026-11-09T02:26:20Z [27,111ms] [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 : 9.807475 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 | ++---------+----------------+ + +2026-11-09T02:26:25Z [31,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,758ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,759ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,760ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,761ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,762ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,763ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,764ms] [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 +2026-11-09T02:26:25Z [31,765ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:26:28Z [34,573ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:26:30Z [36,454ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_13/Backdrop/texture_right + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 GRASP_LOST: closest 13.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 135) +[ARMS] ep 1 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 225) +[ARMS] ep 2 PLACE_UNREACHABLE: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 3 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 4 OK: closest 6.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 5 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 6 TILTED: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 7 OK: closest 6.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 8 OK: closest 6.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 9 OK: closest 4.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 145) +[ARMS] ep 10 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 11 GRASP_LOST: closest 11.2 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 89) +[ARMS] ep 12 OK: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> arm_r_link7 (l retreat, r hold, tick 201) +[ARMS] ep 13 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 126) +[ARMS] ep 14 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 147) +[ARMS] ep 15 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 129) +[ARMS] ep 16 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 159) +[ARMS] ep 17 OK: closest 5.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 18 GRASP_LOST: closest 13.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 132) +[ARMS] ep 19 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 20 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 21 MOVING: closest 5.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 22 OK: closest 6.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 168) +[ARMS] ep 23 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 144) +[COLLECT] batch 1: 15 ok / 9 failed so far, 24 saved, statuses {'GRASP_LOST': 6, 'OK': 15, 'PLACE_UNREACHABLE': 1, 'TILTED': 1, 'MOVING': 1}, 639 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p287 (15 successes, 9 failures) diff --git a/logs/vw10k_p288.log b/logs/vw10k_p288.log new file mode 100644 index 0000000000000000000000000000000000000000..27f1a27e166f2059975fc701889543779b654c0c --- /dev/null +++ b/logs/vw10k_p288.log @@ -0,0 +1,325 @@ +[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_20261109_022642.log +2026-11-09T02:26:42Z [553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:42Z [553ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:42Z [626ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-11-09T02:26:42Z [627ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-11-09T02:26:42Z [627ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-11-09T02:26:42Z [627ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-11-09T02:26:42Z [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: 3992.88 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. +2026-11-09T02:26:43Z [1,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:43Z [1,096ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:48Z [6,744ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:26:48Z [6,744ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [6,950ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [6,951ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [6,953ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [6,953ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [6,956ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [6,956ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [7,004ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [7,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40 +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-11-09T02:26:49Z [7,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000 +2026-11-09T02:26:49Z [7,005ms] [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: 560792 +| Total Page/Swap (MB): 7811 | Free Page/Swap: 7400 +|---------------------------------------------------------------------------------------------| +2026-11-09T02:26:50Z [8,484ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1 +2026-11-09T02:26:51Z [9,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:51Z [9,226ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:51Z [9,267ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:51Z [9,267ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:51Z [9,280ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:51Z [9,280ms] [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) +2026-11-09T02:26:51Z [9,290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:51Z [9,290ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:51Z [9,291ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:51Z [9,291ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:51Z [9,292ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-11-09T02:26:51Z [9,292ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-11-09T02:26:51Z [9,506ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-11-09T02:26:52Z [9,888ms] [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. +2026-11-09T02:26:52Z [9,896ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-11-09T02:26:55Z [13,101ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-11-09T02:26:55Z [13,394ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-11-09T02:26:55Z [13,394ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-11-09T02:26:55Z [13,395ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-11-09T02:26:58Z [16,758ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-11-09T02:27:01Z [19,296ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7 + +[COLLECT] layout override: {'cup_x': (0.36, 0.58), 'cup_y': (0.0, 0.42), 'cup_yaw': (0.0, 360.0), 'tray_x': (0.4, 0.55), 'tray_y': (-0.6, -0.28), 'tray_yaw': (-10, 10), 'min_gap': 0.05} +[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg +2026-11-09T02:27:03Z [21,589ms] [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 +2026-11-09T02:27:06Z [24,430ms] [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:0x74d7dc2799a0:World0.usd@ <0x74d35e86c930>) + +2026-11-09T02:27:06Z [24,431ms] [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:0x74d7dc2799a0:World0.usd@ <0x74d35e86c930>) + +[INFO]: Time taken for scene creation : 3.185497 seconds +[INFO]: Scene manager: + Number of environments: 24 + 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... +2026-11-09T02:27:07Z [25,476ms] [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 +2026-11-09T02:27:08Z [26,313ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:27:08Z [26,328ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:27:11Z [29,699ms] [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 +2026-11-09T02:27:11Z [29,699ms] [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 +2026-11-09T02:27:23Z [40,980ms] [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 : 29.774073 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 | ++---------+----------------+ + +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,635ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,636ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,637ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,638ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294 +2026-11-09T02:27:36Z [54,639ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports 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... +2026-11-09T02:27:41Z [59,745ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-11-09T02:27:46Z [64,035ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_15/Backdrop/texture_left + +[ARMS] surface points per body: {'l': {'arm_l_link1': 808, 'arm_l_link2': 786, 'arm_l_link3': 714, 'arm_l_link4': 780, 'arm_l_link5': 740, 'arm_l_link6': 626, 'arm_l_link7': 1383, 'gripper_l_rh_p12_rn_r1': 448, 'gripper_l_rh_p12_rn_l1': 457, 'gripper_l_rh_p12_rn_r2': 447, 'gripper_l_rh_p12_rn_l2': 463, 'gripper_l_outer_bar_r': 179, 'gripper_l_outer_bar_l': 169}, 'r': {'arm_r_link1': 767, 'arm_r_link2': 826, 'arm_r_link3': 734, 'arm_r_link4': 790, 'arm_r_link5': 692, 'arm_r_link6': 626, 'arm_r_link7': 1410, 'gripper_r_rh_p12_rn_r1': 425, 'gripper_r_rh_p12_rn_l1': 452, 'gripper_r_rh_p12_rn_r2': 480, 'gripper_r_rh_p12_rn_l2': 454, 'gripper_r_outer_bar_r': 175, 'gripper_r_outer_bar_l': 169}}; dropped (> 0.4 m from the body): {} +[COLLECT] 24 envs, handover program cup_handover_v6.py sha a518ebf00544, params ['BODY_H', 'PINCH_AZ', 'PINCH_DEPTH', 'PINCH_SIDE_DEG', 'PINCH_TILT', 'PLACE_DX', 'PLACE_DY', 'PLACE_H', 'PLACE_YAW', 'PREGRASP', 'PRESHAPE', 'RATE'], noise_scale 0.0, hollow cup True +[ARMS] ep 0 OK: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 153) +[ARMS] ep 1 CUP_TIPPED: closest 8.4 cm, arm_l_link7 <-> arm_r_link7 (l lift, r idle, tick 87) +[ARMS] ep 2 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 151) +[ARMS] ep 3 NOT_ON_TRAY: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 161) +[ARMS] ep 4 PLACE_UNREACHABLE: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 5 OK: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 147) +[ARMS] ep 6 MOVING: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 7 OK: closest 5.1 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 156) +[ARMS] ep 8 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 154) +[ARMS] ep 9 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 166) +[ARMS] ep 10 NOT_ON_TRAY: closest 6.4 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 11 CUP_TIPPED: closest 24.2 cm, arm_l_link7 <-> gripper_r_rh_p12_rn_l2 (l close, r idle, tick 57) +[ARMS] ep 12 OK: closest 6.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 162) +[ARMS] ep 13 NOT_ON_TRAY: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 164) +[ARMS] ep 14 TILTED: closest 5.5 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 15 CUP_TIPPED: closest 28.2 cm, arm_l_link7 <-> arm_r_link7 (l reach, r idle, tick 3) +[ARMS] ep 16 OK: closest 5.2 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 149) +[ARMS] ep 17 OK: closest 6.0 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 160) +[ARMS] ep 18 OK: closest 5.9 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 150) +[ARMS] ep 19 TILTED: closest 6.6 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 151) +[ARMS] ep 20 OK: closest 5.7 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 155) +[ARMS] ep 21 OK: closest 6.8 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 165) +[ARMS] ep 22 OK: closest 5.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r approach, tick 171) +[ARMS] ep 23 GRASP_LOST: closest 13.3 cm, gripper_l_rh_p12_rn_r2 <-> gripper_r_rh_p12_rn_l2 (l hold, r reach, tick 145) +[COLLECT] batch 1: 12 ok / 12 failed so far, 24 saved, statuses {'OK': 12, 'CUP_TIPPED': 3, 'GRASP_LOST': 2, 'NOT_ON_TRAY': 3, 'PLACE_UNREACHABLE': 1, 'MOVING': 1, 'TILTED': 2}, 1339 s +[COLLECT] done: 24 episodes in data_local/sim_demos/vw10k_p288 (12 successes, 12 failures) diff --git a/vw10k_p145/episode_0000/meta.json b/vw10k_p145/episode_0000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7481ac021eaf36e4faf28e33ed3001cf09d2845f --- /dev/null +++ b/vw10k_p145/episode_0000/meta.json @@ -0,0 +1,326 @@ +{ + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.4560816287994385, + 0.16795429587364197, + 85.58612823486328 + ], + "tray_init_xy_yaw": [ + 0.541161298751831, + -0.47298741340637207, + 5.0950775146484375 + ], + "cup_end_in_tray_frame": [ + -0.014, + -0.0541, + -0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321715891361237, + "cup_speed": 0.0008713682182133198, + "gripper_l_end": 0.11532281339168549, + "gripper_r_end": 0.1268337517976761, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 460 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 2.1, + "err_deg": 0.2, + "ticks": 33 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.6, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.6, + "err_deg": 0.1, + "ticks": 9 + }, + 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], + "radius": [ + 0.01, + 0.06 + ], + "brightness": [ + 0.2, + 2.0 + ], + "color_temperature": [ + 3000.0, + 6500.0 + ] + }, + "table_dz": 0.0, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 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8.597498893737793 + ], + "tray_init_xy_yaw": [ + 0.4665966033935547, + -0.41810598969459534, + -8.851505279541016 + ], + "cup_end_in_tray_frame": [ + -0.0496, + -0.3929, + 0.0517 + ], + "cup_tilt_deg": 83.7805404663086, + "cup_bottom_z": 0.03148270770907402, + "cup_speed": 0.00747926440089941, + "gripper_l_end": 1.1000005006790161, + "gripper_r_end": 0.14547792077064514, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": false, + "status": "GRASP_LOST", + "arm": "l", + "ticks": 149 + }, + "params": { + "PINCH_TILT": 21.06760025024414, + "PINCH_AZ": -94.0623550415039, + "PINCH_DEPTH": 0.020387133583426476, + "PRESHAPE": 0.8281353712081909, + "BODY_H": 0.03466121852397919, + "PLACE_H": 0.017009379342198372, + "RATE": 1.1181004047393799, + "PLACE_DX": -0.014415662735700607, + "PLACE_DY": 0.06063392385840416, + "PLACE_YAW": -10.562118530273438, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.8, + "err_deg": 0.2, + "ticks": 37 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.3, + "err_deg": 0.1, + "ticks": 17 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.0, + "err_deg": 0.2, + "ticks": 10 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 0.3, + "err_deg": 0.1, + "ticks": 47 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.3, + "err_deg": 0.2, + "ticks": 47 + } + ] + }, + "dr": { + "backdrop": { + "mode": "real", + "variant": "left_arm_left" + }, + "table": { + "mode": "colour", + "rgb": [ + 0.051, + 0.08, + 0.038 + ], + "roughness": 0.266 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.708, + -1.607, + 3.032 + ], + "intensity_scale": 0.304, + "kelvin": 6796 + }, + { + "pos": [ + 0.532, + 0.812, + 3.045 + ], + "intensity_scale": 0.303, + "kelvin": 4031 + } + ], + "level": 0.319, + "dome": { + "intensity_scale": 1.547, + "kelvin": 4241 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.009, + 0.227, + 0.519 + ], + "roughness": 0.786 + }, + "spots": { + "count": 2, + "spots": [ + { + "aim": [ + 0.235, + 0.067 + ], + "dist": 1.552, + "tilt_deg": 3.6, + "cone_deg": 11.3, + "softness": 0.33, + "radius": 0.037, + "brightness": 1.23, + "kelvin": 4745 + }, + { + "aim": [ + 0.435, + -0.49 + ], + "dist": 1.583, + "tilt_deg": 18.7, + "cone_deg": 14.5, + "softness": 0.39, + "radius": 0.027, + "brightness": 0.65, + "kelvin": 4977 + } + ] + } + }, + "arm_clearance": { + "min_m": 0.132, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "reach", + "tick": 145 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1221, + "open_r": 0.1455, + "exec_close_l": 1.4971 + }, + "pair_key": [ + 100146, + 1, + 23 + ], + "length": 149 + } + ], + "status_counts": { + "OK": 11, + "PLACE_UNREACHABLE": 1, + "GRASP_LOST": 5, + "TILTED": 1, + "MOVING": 3, + "CUP_TIPPED": 3 + } +} \ No newline at end of file diff --git a/vw10k_p152/index.json b/vw10k_p152/index.json new file mode 100644 index 0000000000000000000000000000000000000000..7d716c790d00e0d90fb6f0ec8211d522aab9a047 --- /dev/null +++ b/vw10k_p152/index.json @@ -0,0 +1,7472 @@ +{ + "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": null, + "centre": [ + 0.5, + 0.19 + ], + "jitter": 0.03, + "yaw_jitter_deg": 10.0, + "yaw_abs_range": null, + "max_shoulder_dist": 0.8, + "ring": null, + "reach_profile": null, + "reach_centre": null, + "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 + ], + "pad_tip_below_centre": -0.005, + "table_clearance": 0.005, + "pregrasp_dist": 0.08, + "lift_height": 0.12, + "durations_s": [ + 5.0, + 2.0, + 0.7, + 0.5, + 1.5, + 0.5 + ], + "extra_s": 2.0, + "pos_tol": 0.01, + "ang_tol_deg": 5.0, + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "ik": { + "max_joint_step": 0.05, + "damping": 0.05, + "posture_gain": 0.1, + "locked_joints": [ + "joint3" + ] + }, + "scene": { + "fps": 15, + "wrist_rot90": 1, + "wrist_yaw_deg": 0.0, + "wrist_calib": "/workspace/cyclo_lab/data_collection/real_gripper/analysis/wrist_calib", + "gripper_armature": 0.01, + "head_camera": true, + "env_spacing": 10.0, + "settle_ticks": 60, + "board": { + "height": 0.343, + "thickness": 0.01, + "length": 2.0, + "edge_x": 1.245, + "base_z": 0.724, + "lean_deg": 20.0, + "face_color": [ + 0.18, + 0.18, + 0.18 + ], + "tape_width": 0.035, + "bottom_tape_color": [ + 0.35, + 0.35, + 0.35 + ], + "table_tape_color": [ + 0.4, + 0.4, + 0.4 + ], + "table_tape_width": 0.05, + "patch_width": 0.05, + "patch_gap": 0.315, + "patch_profile": [ + [ + 0.915, + 0.7255 + ], + [ + 0.965, + 0.7235 + ], + [ + 0.975, + 0.716 + ], + [ + 0.982, + 0.703 + ], + [ + 0.988, + 0.685 + ], + [ + 0.995, + 0.668 + ], + [ + 1.005, + 0.657 + ] + ] + }, + "surroundings": { + "baked_dir": "data_local/backgrounds/baked", + "variants": [], + "p_real": 0.4, + "p_texture": 0.5, + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p152", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100152, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.48037898540496826, + 0.08314557373523712, + 66.81967163085938 + ], + "tray_init_xy_yaw": [ + 0.5041552782058716, + -0.3576499819755554, + -3.476583480834961 + ], + "cup_end_in_tray_frame": [ + -0.0134, + -0.0519, + -0.0002 + ], + "cup_tilt_deg": 0.560928463935852, + "cup_bottom_z": 0.08346034586429596, + "cup_speed": 0.0007317843846976757, + "gripper_l_end": 0.1545514166355133, + "gripper_r_end": 0.13514764606952667, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 427 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.1, + "err_deg": 0.2, + 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true, + "create_new_stage": false, + "physics_gpu": 0, + "active_gpu": 0 + }, + "dr2": { + "start_pose": null, + "gripper_cmd": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 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"no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.40714746713638306, + 0.09246505051851273, + 116.37989807128906 + ], + "tray_init_xy_yaw": [ + 0.5076661109924316, + -0.49003782868385315, + -1.1802263259887695 + ], + "cup_end_in_tray_frame": [ + -0.0117, + -0.0654, + -0.0 + ], + "cup_tilt_deg": 0.07401874661445618, + "cup_bottom_z": 0.08325369656085968, + "cup_speed": 0.0013789399527013302, + "gripper_l_end": 0.13875775039196014, + "gripper_r_end": 0.15592199563980103, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 421 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.7, + "err_deg": 0.2, + 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false, + "rand_lights": false, + "rand_cameras": false, + "rand_cube": false, + "rand_traj": false, + "dr": false, + "start_pose_rand": false, + "gripper_rand": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.4537609815597534, + 0.037315431982278824, + 235.2027130126953 + ], + "tray_init_xy_yaw": [ + 0.4431319236755371, + -0.300188273191452, + 3.89385986328125 + ], + "cup_end_in_tray_frame": [ + -0.0076, + -0.0472, + -0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08322079479694366, + "cup_speed": 0.0026691402308642864, + "gripper_l_end": 0.1400495320558548, + "gripper_r_end": 0.14544783532619476, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 450 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 0.8, + "err_deg": 0.2, + "ticks": 33 + }, + { + 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], + "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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 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"table": { + "mode": "colour", + "rgb": [ + 0.14, + 0.138, + 0.113 + ], + "roughness": 0.112 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.35, + -1.607, + 2.218 + ], + "intensity_scale": 1.728, + "kelvin": 6445 + }, + { + "pos": [ + 0.968, + 1.415, + 2.6 + ], + "intensity_scale": 2.934, + "kelvin": 5339 + } + ], + "level": 2.172, + "dome": { + "intensity_scale": 2.031, + "kelvin": 4307 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.006, + 0.046, + 0.402 + ], + "roughness": 0.6 + }, + "spots": { + "count": 1, + "spots": [ + { + "aim": [ + 0.682, + -0.373 + ], + "dist": 1.164, + "tilt_deg": 20.7, + "cone_deg": 18.9, + "softness": 0.09, + "radius": 0.038, + "brightness": 1.98, + "kelvin": 5609 + } + ] + } + }, + "arm_clearance": { + "min_m": 0.0588, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 163 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1371, + "open_r": 0.1216, + "exec_close_l": 1.3306 + }, + "pair_key": [ + 100202, + 1, + 23 + ], + "length": 250 + } + ], + "status_counts": { + "OK": 9, + "GRASP_LOST": 7, + "MOVING": 2, + "CUP_TIPPED": 2, + "PLACE_UNREACHABLE": 1, + "HANDOVER_FAILED": 2, + "NOT_ON_TRAY": 1 + } +} \ No newline at end of file diff --git a/vw10k_p203/index.json b/vw10k_p203/index.json new file mode 100644 index 0000000000000000000000000000000000000000..12b1ccc957e23f02638226d683da9a5bfd2e79b9 --- /dev/null +++ b/vw10k_p203/index.json @@ -0,0 +1,7223 @@ +{ + "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": null, + "centre": [ + 0.5, + 0.19 + ], + "jitter": 0.03, + "yaw_jitter_deg": 10.0, + "yaw_abs_range": null, + "max_shoulder_dist": 0.8, + "ring": null, + "reach_profile": null, + "reach_centre": null, + "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 + ], + "pad_tip_below_centre": -0.005, + "table_clearance": 0.005, + "pregrasp_dist": 0.08, + "lift_height": 0.12, + "durations_s": [ + 5.0, + 2.0, + 0.7, + 0.5, + 1.5, + 0.5 + ], + "extra_s": 2.0, + "pos_tol": 0.01, + "ang_tol_deg": 5.0, + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "ik": { + "max_joint_step": 0.05, + "damping": 0.05, + "posture_gain": 0.1, + "locked_joints": [ + "joint3" + ] + }, + "scene": { + "fps": 15, + "wrist_rot90": 1, + "wrist_yaw_deg": 0.0, + "wrist_calib": "/workspace/cyclo_lab/data_collection/real_gripper/analysis/wrist_calib", + "gripper_armature": 0.01, + "head_camera": true, + "env_spacing": 10.0, + "settle_ticks": 60, + "board": { + "height": 0.343, + "thickness": 0.01, + "length": 2.0, + "edge_x": 1.245, + "base_z": 0.724, + "lean_deg": 20.0, + "face_color": [ + 0.18, + 0.18, + 0.18 + ], + "tape_width": 0.035, + "bottom_tape_color": [ + 0.35, + 0.35, + 0.35 + ], + "table_tape_color": [ + 0.4, + 0.4, + 0.4 + ], + "table_tape_width": 0.05, + "patch_width": 0.05, + "patch_gap": 0.315, + "patch_profile": [ + [ + 0.915, + 0.7255 + ], + [ + 0.965, + 0.7235 + ], + [ + 0.975, + 0.716 + ], + [ + 0.982, + 0.703 + ], + [ + 0.988, + 0.685 + ], + [ + 0.995, + 0.668 + ], + [ + 1.005, + 0.657 + ] + ] + }, + "surroundings": { + "baked_dir": "data_local/backgrounds/baked", + "variants": [], + "p_real": 0.4, + "p_texture": 0.5, + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p203", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100203, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.3676877021789551, + 0.2287082076072693, + 80.14108276367188 + ], + "tray_init_xy_yaw": [ + 0.5086149573326111, + -0.36192214488983154, + 0.8102626800537109 + ], + "cup_end_in_tray_frame": [ + -0.0117, + -0.0489, + -0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321686089038849, + "cup_speed": 0.003471959615126252, + "gripper_l_end": 0.11072079092264175, + "gripper_r_end": 0.10471977293491364, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 436 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 5.5, + "err_deg": 0.6, + "ticks": 36 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.2, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 4.5, + "err_deg": 0.2, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 0.9, + "err_deg": 0.1, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 2.9, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.4, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 5.1, + "err_deg": 0.4, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 3.8, + "err_deg": 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"gripper_r_end": 0.12266752868890762, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 454 + }, + "params": { + "PINCH_TILT": 16.422657012939453, + "PINCH_AZ": -90.69186401367188, + "PINCH_DEPTH": 0.020393842831254005, + "PRESHAPE": 0.7981103658676147, + "BODY_H": 0.037812527269124985, + "PLACE_H": 0.01410355232656002, + "RATE": 1.017617106437683, + "PLACE_DX": -0.010725429281592369, + "PLACE_DY": 0.04531793296337128, + "PLACE_YAW": 11.831871032714844, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 5.7, + "err_deg": 0.5, + "ticks": 34 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 3.1, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.6, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.0, + "err_deg": 0.1, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.0, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 6.4, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 7.6, + "err_deg": 1.7, + "ticks": 33 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.3, + "err_deg": 0.2, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 5.5, + "err_deg": 1.7, + "ticks": 20 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 0.9, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4932 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.5, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 4.8, + "err_deg": 0.3, + "ticks": 51 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 5.1, + "err_deg": 0.3, + "ticks": 14 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 3.7, + "err_deg": 0.1, + "ticks": 18 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.9, + "err_deg": 0.1, + "ticks": 12 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.5, + "err_deg": 0.3, + "ticks": 24 + }, + { + "success": false, + "status": "NOT_CONVERGED", + "tag": "final", + "err_mm": 84.0, + "err_deg": 10.6, + "ticks": 48 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 4.7, + "err_deg": 0.4, + "ticks": 12 + } + ] + }, + "dr": { + "backdrop": { + "mode": "real", + 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newline at end of file diff --git a/vw10k_p208/index.json b/vw10k_p208/index.json new file mode 100644 index 0000000000000000000000000000000000000000..5516e6ff34047f288f4ad6e9d96ac3be5bba30ca --- /dev/null +++ b/vw10k_p208/index.json @@ -0,0 +1,7274 @@ +{ + "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": null, + "centre": [ + 0.5, + 0.19 + ], + "jitter": 0.03, + "yaw_jitter_deg": 10.0, + "yaw_abs_range": null, + "max_shoulder_dist": 0.8, + "ring": null, + "reach_profile": null, + "reach_centre": null, + "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 + ], + "pad_tip_below_centre": -0.005, + "table_clearance": 0.005, + "pregrasp_dist": 0.08, + "lift_height": 0.12, + "durations_s": [ + 5.0, + 2.0, + 0.7, + 0.5, + 1.5, + 0.5 + ], + "extra_s": 2.0, + "pos_tol": 0.01, + "ang_tol_deg": 5.0, + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "ik": { + "max_joint_step": 0.05, + "damping": 0.05, + "posture_gain": 0.1, + "locked_joints": [ + "joint3" + ] + }, + "scene": { + "fps": 15, + "wrist_rot90": 1, + "wrist_yaw_deg": 0.0, + "wrist_calib": "/workspace/cyclo_lab/data_collection/real_gripper/analysis/wrist_calib", + "gripper_armature": 0.01, + "head_camera": true, + "env_spacing": 10.0, + "settle_ticks": 60, + "board": { + "height": 0.343, + "thickness": 0.01, + "length": 2.0, + "edge_x": 1.245, + "base_z": 0.724, + "lean_deg": 20.0, + "face_color": [ + 0.18, + 0.18, + 0.18 + ], + "tape_width": 0.035, + "bottom_tape_color": [ + 0.35, + 0.35, + 0.35 + ], + "table_tape_color": [ + 0.4, + 0.4, + 0.4 + ], + "table_tape_width": 0.05, + "patch_width": 0.05, + "patch_gap": 0.315, + "patch_profile": [ + [ + 0.915, + 0.7255 + ], + [ + 0.965, + 0.7235 + ], + [ + 0.975, + 0.716 + ], + [ + 0.982, + 0.703 + ], + [ + 0.988, + 0.685 + ], + [ + 0.995, + 0.668 + ], + [ + 1.005, + 0.657 + ] + ] + }, + "surroundings": { + "baked_dir": "data_local/backgrounds/baked", + "variants": [], + "p_real": 0.4, + "p_texture": 0.5, + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p208", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100208, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.468362420797348, + 0.2670583128929138, + 283.4435729980469 + ], + "tray_init_xy_yaw": [ + 0.5444695949554443, + -0.49093112349510193, + 3.559284210205078 + ], + "cup_end_in_tray_frame": [ + -0.0169, + -0.054, + -0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321686089038849, + "cup_speed": 0.0036564276088029146, + "gripper_l_end": 0.10192049294710159, + "gripper_r_end": 0.15315435826778412, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 545 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 7.1, + "err_deg": 1.1, + "ticks": 35 + }, + { + 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}, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p216", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100216, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.5175763368606567, + 0.02583608590066433, + 45.55414581298828 + ], + "tray_init_xy_yaw": [ + 0.547905445098877, + -0.38010263442993164, + -0.9333982467651367 + ], + "cup_end_in_tray_frame": [ + -0.0156, + -0.0565, + -0.001 + ], + "cup_tilt_deg": 1.863721489906311, + "cup_bottom_z": 0.08419103920459747, + "cup_speed": 0.0011351506691426039, + "gripper_l_end": 0.14964552223682404, + "gripper_r_end": 0.1222626268863678, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 440 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 0.3, + "err_deg": 0.2, + 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"table_dz": 0.0, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 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+ "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.7, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.6, + "err_deg": 0.2, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 0.9, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 2.9, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.7, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 4.3, + "err_deg": 0.4, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 9.4, + "err_deg": 3.5, + "ticks": 20 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 0.9, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4893 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.5, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 8.8, + "err_deg": 0.4, + "ticks": 48 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 7.8, + "err_deg": 0.5, + "ticks": 15 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 4.0, + "err_deg": 0.1, + "ticks": 18 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 6.8, + "err_deg": 0.3, + "ticks": 12 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.9, + "err_deg": 0.2, + "ticks": 24 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 4.5, + "err_deg": 0.6, + "ticks": 45 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 3.2, + "err_deg": 0.1, + "ticks": 12 + } + ] + }, + "dr": { + "backdrop": { + "mode": "texture", + "floor": "Paper001", + "walls": "Concrete046", + "tile_m": 0.833 + }, + "table": { + "mode": "texture", + "texture": "Fabric023", + "tile_m": 0.589, + "angle_deg": 200.0 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.49, + -1.483, + 3.245 + ], + "intensity_scale": 0.556, + "kelvin": 4047 + }, + { + "pos": [ + 1.013, + 1.519, + 3.299 + ], + "intensity_scale": 0.702, + "kelvin": 4250 + } + ], + "level": 0.558, + "dome": { + "mode": "nominal" + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.007, + 0.089, + 0.293 + ], + "roughness": 0.73 + }, + "spots": { + "count": 1, + "spots": [ + { + "aim": [ + 0.749, + -0.456 + ], + "dist": 0.887, + "tilt_deg": 6.4, + "cone_deg": 9.5, + "softness": 0.49, + "radius": 0.041, + "brightness": 1.4, + "kelvin": 6394 + } + ] + } + }, + "arm_clearance": { + "min_m": 0.0547, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 153 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1104, + "open_r": 0.128, + "exec_close_l": 1.4599 + }, + "pair_key": [ + 100219, + 1, + 0 + ], + "length": 447 + }, + { + "episode": 1, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.3939051926136017, + 0.01584172248840332, + 223.80419921875 + ], + "tray_init_xy_yaw": [ + 0.46798527240753174, + -0.35033583641052246, + -6.860282897949219 + ], + "cup_end_in_tray_frame": [ + -0.0114, + -0.0478, + 0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321584761142731, + "cup_speed": 0.007423979230225086, + "gripper_l_end": 0.13737697899341583, + "gripper_r_end": 0.1555825173854828, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 411 + }, + "params": { + "PINCH_TILT": 14.529029846191406, + "PINCH_AZ": -84.71786499023438, + "PINCH_DEPTH": 0.020473280921578407, + "PRESHAPE": 0.7531574368476868, + "BODY_H": 0.033265430480241776, + "PLACE_H": 0.00820002518594265, + "RATE": 0.9322085976600647, + "PLACE_DX": -0.0076134828850626945, + "PLACE_DY": 0.045901842415332794, + "PLACE_YAW": -5.751980781555176, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.3, + "ticks": 31 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.1, + "err_deg": 0.1, + "ticks": 14 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.6, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.1, + "err_deg": 0.2, + "ticks": 39 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.3, + "err_deg": 0.1, + "ticks": 7 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.4, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 4.8, + "err_deg": 0.4, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.2, + "ticks": 39 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 8.4, + "err_deg": 3.3, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.5, + "err_deg": 0.2, + "ticks": 14 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4944 + }, + { + "success": true, + "status": "OK", + "tag": 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"dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 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1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": false, + "status": "MOVING", + "cup_init_xy_yaw": [ + 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"ticks": 33 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.8, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.6, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 0.9, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.0, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.2, + "err_deg": 0.1, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 5.6, + "err_deg": 0.5, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.3, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.5, + "err_deg": 0.3, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.2, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4954 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.4, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 4.1, + "err_deg": 0.3, + "ticks": 45 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 4.0, + "err_deg": 0.2, + "ticks": 18 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 7.6, + "err_deg": 0.3, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 2.6, + "err_deg": 0.1, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 7.6, + "err_deg": 0.4, + "ticks": 41 + }, + { + "success": false, + "status": "NOT_CONVERGED", + "tag": "final", + "err_mm": 21.9, + "err_deg": 1.9, + "ticks": 42 + } + ] + }, + "dr": { + "backdrop": { + "mode": "texture", + "floor": "Marble016", + "walls": "Concrete048", + "tile_m": 0.743 + }, + "table": { + "mode": "texture", + "texture": "Rubber001", + "tile_m": 0.98, + "angle_deg": 254.0 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.938, + -0.657, + 2.483 + ], + "intensity_scale": 0.428, + "kelvin": 3634 + }, + { + "pos": [ + 1.654, + 1.102, + 2.406 + ], + "intensity_scale": 0.386, + "kelvin": 5470 + } + ], + "level": 0.476, + "dome": { + "intensity_scale": 0.45, + "kelvin": 4233 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.0, + 0.047, + 0.366 + ], + "roughness": 0.541 + }, + "spots": { + "count": 3, + "spots": [ + { + "aim": [ + 0.245, + -0.347 + ], + "dist": 1.033, + "tilt_deg": 19.9, + "cone_deg": 20.6, + "softness": 0.53, + "radius": 0.058, + "brightness": 1.94, + "kelvin": 6016 + }, + { + "aim": [ + 0.592, + -0.044 + ], + "dist": 1.507, + "tilt_deg": 31.1, + "cone_deg": 16.2, + "softness": 0.6, + "radius": 0.02, + "brightness": 1.93, + "kelvin": 4149 + }, + { + "aim": [ + 0.212, + 0.06 + ], + "dist": 0.941, + "tilt_deg": 22.3, + "cone_deg": 24.9, + "softness": 0.11, + "radius": 0.044, + "brightness": 0.62, + "kelvin": 6469 + } + ] + } + }, + "arm_clearance": { + "min_m": 0.0514, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 153 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1417, + "open_r": 0.1503, + "exec_close_l": 1.3688 + }, + "pair_key": [ + 100222, + 1, + 0 + ], + "length": 459 + }, + { + "episode": 1, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.5706956386566162, + 0.12898126244544983, + 6.803714752197266 + ], + "tray_init_xy_yaw": [ + 0.5016106963157654, + -0.41923993825912476, + -3.1281633377075195 + ], + "cup_end_in_tray_frame": [ + -0.0044, + -0.0448, + 0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321626484394073, + "cup_speed": 0.001722971792332828, + "gripper_l_end": 0.12086185067892075, + "gripper_r_end": 0.14783816039562225, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 431 + }, + "params": { + "PINCH_TILT": 14.476232528686523, + "PINCH_AZ": -87.54981231689453, + "PINCH_DEPTH": 0.018950480967760086, + "PRESHAPE": 0.7777513265609741, + "BODY_H": 0.03595404326915741, + "PLACE_H": 0.014619872905313969, + "RATE": 1.0236321687698364, + "PLACE_DX": -0.0007455144077539444, + "PLACE_DY": 0.045307498425245285, + "PLACE_YAW": -14.641753196716309, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 0.8, + "err_deg": 0.2, + "ticks": 34 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.9, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.1, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.0, + "err_deg": 0.1, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 2.9, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 6.8, + "err_deg": 0.3, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 5.0, + "err_deg": 0.5, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.3, + "err_deg": 0.2, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 7.7, + "err_deg": 2.2, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.4, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4958 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.5, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 7.2, + "err_deg": 1.5, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 4.6, + "err_deg": 0.2, + "ticks": 18 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 9.4, + "err_deg": 0.6, + "ticks": 21 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 2.8, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 3.1, + "err_deg": 0.2, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "final", + 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"release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p228", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100228, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 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"ticks": 33 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 3.6, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.8, + "err_deg": 0.0, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.1, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.0, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 6.3, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 9.1, + "err_deg": 1.9, + "ticks": 33 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.3, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 6.0, + "err_deg": 2.2, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.4, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4957 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.5, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 6.3, + "err_deg": 0.4, + "ticks": 44 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 7.3, + "err_deg": 0.3, + "ticks": 20 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 7.5, + "err_deg": 0.3, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 8.1, + "err_deg": 1.0, + "ticks": 24 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 6.5, + "err_deg": 0.3, + "ticks": 45 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 2.7, + "err_deg": 0.1, + "ticks": 12 + } + ] + }, + "dr": { + "backdrop": { + "mode": "real", + "variant": "right_armx2_left" + }, + "table": { + "mode": "colour", + "rgb": [ + 0.019, + 0.026, + 0.033 + ], + "roughness": 0.351 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.923, + -1.803, + 3.265 + ], + "intensity_scale": 0.379, + "kelvin": 4805 + }, + { + "pos": [ + 1.416, + 1.681, + 2.656 + ], + "intensity_scale": 0.381, + "kelvin": 6321 + } + ], + "level": 0.459, + "dome": { + "intensity_scale": 0.215, + "kelvin": 5211 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.0, + 0.058, + 0.37 + ], + "roughness": 0.672 + }, + "spots": { + "count": 0, + "spots": [] + } + }, + "arm_clearance": { + "min_m": 0.0539, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 153 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.119, + "open_r": 0.1561, + "exec_close_l": 1.3289 + }, + "pair_key": [ + 100228, + 1, + 0 + ], + "length": 433 + }, + { + "episode": 1, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.5243195295333862, + 0.4198884963989258, + 284.9230041503906 + ], + "tray_init_xy_yaw": [ + 0.454812228679657, + -0.32830965518951416, + -9.203413963317871 + ], + "cup_end_in_tray_frame": [ + -0.0081, + -0.0559, + -0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321733772754669, + "cup_speed": 0.002491784282028675, + "gripper_l_end": 0.11482685059309006, + "gripper_r_end": 0.13576357066631317, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 461 + }, + "params": { + "PINCH_TILT": 11.574104309082031, + "PINCH_AZ": -89.41897583007812, + "PINCH_DEPTH": 0.021809058263897896, + "PRESHAPE": 0.7750380039215088, + "BODY_H": 0.033315639942884445, + "PLACE_H": 0.011271776631474495, + "RATE": 1.034942388534546, + "PLACE_DX": -0.004359539598226547, + "PLACE_DY": 0.0514078363776207, + "PLACE_YAW": -4.805539131164551, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 6.4, + "err_deg": 0.4, + "ticks": 37 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.7, + "err_deg": 0.1, + "ticks": 16 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.8, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.0, + "err_deg": 0.1, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.0, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 6.3, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 5.8, + "err_deg": 0.5, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.3, + "err_deg": 0.2, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 6.8, + "err_deg": 1.1, + "ticks": 18 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.4, + "err_deg": 0.1, + "ticks": 16 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.4902 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.4, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 3.9, + "err_deg": 0.3, + "ticks": 43 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 4.3, + "err_deg": 0.2, + "ticks": 19 + }, + { + "success": false, + "status": "NOT_CONVERGED", + "tag": "retreat", + "err_mm": 20.4, + "err_deg": 0.3, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 8.1, + "err_deg": 1.0, + "ticks": 29 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 4.4, + "err_deg": 0.3, + "ticks": 41 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 2.3, + "err_deg": 0.1, + "ticks": 12 + } + ] + }, + "dr": { + "backdrop": { + "mode": "off" + }, + "table": { + "mode": "texture", + "texture": "Wood092", + "tile_m": 1.029, + "angle_deg": 23.7 + }, + "lights": { + "mode": "nominal", + "dome": { + "intensity_scale": 0.215, + "kelvin": 5211 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.005, + 0.116, + 0.39 + ], + "roughness": 0.301 + }, + "spots": { + "count": 0, + "spots": [] + } + }, + "arm_clearance": { + "min_m": 0.0708, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 158 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1148, + "open_r": 0.1358, + "exec_close_l": 1.303 + }, + "pair_key": [ + 100228, + 1, + 1 + ], + "length": 461 + }, + { + "episode": 2, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.5744469165802002, + 0.005769998300820589, + 346.545166015625 + ], + "tray_init_xy_yaw": [ + 0.42758336663246155, + -0.30486491322517395, + -4.303040027618408 + ], + "cup_end_in_tray_frame": [ + -0.0175, + -0.0583, + 0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321429789066315, + "cup_speed": 0.01027805358171463, + "gripper_l_end": 0.1268158257007599, + "gripper_r_end": 0.11385262757539749, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 428 + }, + "params": { + "PINCH_TILT": 21.050495147705078, + "PINCH_AZ": -93.77400970458984, + "PINCH_DEPTH": 0.019634976983070374, + "PRESHAPE": 0.7984537482261658, + "BODY_H": 0.036587659269571304, + "PLACE_H": 0.014012307859957218, + "RATE": 0.9017536044120789, + "PLACE_DX": -0.013185858726501465, + "PLACE_DY": 0.05403141677379608, + "PLACE_YAW": 2.0141124725341797, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.5, + "err_deg": 0.3, + "ticks": 30 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 6.2, + "err_deg": 0.1, + "ticks": 14 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.4, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "move", + 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"wrist_yaw_deg": 0.0, + "wrist_calib": "/workspace/cyclo_lab/data_collection/real_gripper/analysis/wrist_calib", + "gripper_armature": 0.01, + "head_camera": true, + "env_spacing": 10.0, + "settle_ticks": 60, + "board": { + "height": 0.343, + "thickness": 0.01, + "length": 2.0, + "edge_x": 1.245, + "base_z": 0.724, + "lean_deg": 20.0, + "face_color": [ + 0.18, + 0.18, + 0.18 + ], + "tape_width": 0.035, + "bottom_tape_color": [ + 0.35, + 0.35, + 0.35 + ], + "table_tape_color": [ + 0.4, + 0.4, + 0.4 + ], + "table_tape_width": 0.05, + "patch_width": 0.05, + "patch_gap": 0.315, + "patch_profile": [ + [ + 0.915, + 0.7255 + ], + [ + 0.965, + 0.7235 + ], + [ + 0.975, + 0.716 + ], + [ + 0.982, + 0.703 + ], + [ + 0.988, + 0.685 + ], + [ + 0.995, + 0.668 + ], + [ + 1.005, + 0.657 + ] + ] + }, + "surroundings": { + "baked_dir": "data_local/backgrounds/baked", + "variants": [], + "p_real": 0.4, + "p_texture": 0.5, + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p236", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100236, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": false, + "status": "MOVING", + "cup_init_xy_yaw": [ + 0.5235421657562256, + 0.3338339030742645, + 332.7960205078125 + ], + "tray_init_xy_yaw": [ + 0.4814319610595703, + -0.28650254011154175, + 8.535228729248047 + ], + "cup_end_in_tray_frame": [ + -0.0093, + -0.0635, + -0.0037 + ], + "cup_tilt_deg": 8.57093334197998, + "cup_bottom_z": 0.08692659437656403, + "cup_speed": 0.1386401355266571, + "gripper_l_end": 0.12746824324131012, + "gripper_r_end": 0.0986979678273201, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 451 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 8.0, + "err_deg": 1.2, + "ticks": 35 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.1, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 3.7, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.0, + "err_deg": 0.1, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.0, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.9, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 4.0, + "err_deg": 0.4, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 5.6, + "err_deg": 1.2, + "ticks": 19 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.7, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 0.495 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.4, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "carry", + "err_mm": 2.4, + "err_deg": 0.3, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 3.2, + "err_deg": 0.1, + "ticks": 18 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 9.5, + "err_deg": 0.9, + "ticks": 16 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 2.8, + "err_deg": 0.2, + "ticks": 24 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 9.2, + "err_deg": 0.6, + "ticks": 39 + }, + { + "success": false, + "status": "NOT_CONVERGED", + "tag": "final", + "err_mm": 32.5, + "err_deg": 2.7, + "ticks": 42 + } + ] + }, + "dr": { + "backdrop": { + "mode": "real", + "variant": "left_arm_right" + }, + "table": { + "mode": "texture", + "texture": "Tiles144", + "tile_m": 0.571, + "angle_deg": 44.2 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 3.259, + -0.802, + 3.16 + ], + "intensity_scale": 2.07, + "kelvin": 6791 + }, + { + "pos": [ + 0.272, + 0.881, + 2.484 + ], + "intensity_scale": 1.815, + "kelvin": 5567 + } + ], + "level": 1.53, + "dome": { + "intensity_scale": 0.299, + "kelvin": 5283 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.003, + 0.045, + 0.361 + ], + "roughness": 0.665 + }, + "spots": { + "count": 1, + "spots": [ + { + "aim": [ + 0.561, + -0.195 + ], + "dist": 1.384, + "tilt_deg": 3.1, + "cone_deg": 11.6, + "softness": 0.34, + "radius": 0.032, + "brightness": 0.3, + "kelvin": 4636 + } + ] + } + }, + "arm_clearance": { + "min_m": 0.0536, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 153 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1275, + "open_r": 0.1022, + "exec_close_l": 1.3833 + }, + "pair_key": [ + 100236, + 1, + 0 + ], + "length": 451 + }, + { + "episode": 1, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.49202799797058105, + 0.16599199175834656, + 121.50139617919922 + ], + "tray_init_xy_yaw": [ + 0.4318805932998657, + -0.4755346179008484, + 2.487194061279297 + ], + "cup_end_in_tray_frame": [ + -0.0078, + -0.0526, + -0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.0832182914018631, + "cup_speed": 0.006030115764588118, + "gripper_l_end": 0.14092963933944702, + "gripper_r_end": 0.11713746935129166, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + 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false, + "status": "NOT_CONVERGED", + "tag": "retreat", + "err_mm": 27.7, + "err_deg": 2.6, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.6, + "err_deg": 0.3, + "ticks": 25 + }, + { + "success": false, + "status": "NOT_CONVERGED", + "tag": "final", + "err_mm": 32.9, + "err_deg": 3.9, + "ticks": 48 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 3.4, + "err_deg": 0.2, + "ticks": 12 + } + ] + }, + "dr": { + "backdrop": { + "mode": "texture", + "floor": "Road012A", + "walls": "Carpet016", + "tile_m": 1.848 + }, + "table": { + "mode": "texture", + "texture": "PaintedPlaster015", + "tile_m": 0.37, + "angle_deg": 25.9 + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 3.126, + -1.783, + 2.434 + ], + "intensity_scale": 0.588, + "kelvin": 3606 + }, + { + "pos": [ + 0.338, + 1.09, + 2.713 + ], + "intensity_scale": 0.537, + "kelvin": 3943 + } + ], + "level": 0.44, + "dome": { + "intensity_scale": 0.299, + "kelvin": 5283 + } + }, + "cup": { + "mode": "nominal" + }, + "spots": { + "count": 0, + "spots": [] + } + }, + "arm_clearance": { + "min_m": 0.0451, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 155 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1131, + "open_r": 0.1561, + "exec_close_l": 1.385 + }, + "pair_key": [ + 100236, + 1, + 23 + ], + "length": 464 + } + ], + "status_counts": { + "MOVING": 1, + "OK": 13, + "GRASP_LOST": 4, + "TILTED": 3, + "HANDOVER_FAILED": 1, + "NOT_ON_TRAY": 2 + } +} \ No newline at end of file diff --git a/vw10k_p244/index.json b/vw10k_p244/index.json new file mode 100644 index 0000000000000000000000000000000000000000..93e811efe8348d8f28a9cb4d205c58355e94fbe3 --- /dev/null +++ b/vw10k_p244/index.json @@ -0,0 +1,7551 @@ +{ + "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": null, + "centre": [ + 0.5, + 0.19 + ], + "jitter": 0.03, + "yaw_jitter_deg": 10.0, + "yaw_abs_range": null, + "max_shoulder_dist": 0.8, + "ring": null, + "reach_profile": null, + "reach_centre": null, + "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 + ], + "pad_tip_below_centre": -0.005, + "table_clearance": 0.005, + "pregrasp_dist": 0.08, + "lift_height": 0.12, + "durations_s": [ + 5.0, + 2.0, + 0.7, + 0.5, + 1.5, + 0.5 + ], + "extra_s": 2.0, + "pos_tol": 0.01, + "ang_tol_deg": 5.0, + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "ik": { + "max_joint_step": 0.05, + "damping": 0.05, + "posture_gain": 0.1, + "locked_joints": [ + "joint3" + ] + }, + "scene": { + "fps": 15, + "wrist_rot90": 1, + "wrist_yaw_deg": 0.0, + "wrist_calib": "/workspace/cyclo_lab/data_collection/real_gripper/analysis/wrist_calib", + "gripper_armature": 0.01, + "head_camera": true, + "env_spacing": 10.0, + "settle_ticks": 60, + "board": { + "height": 0.343, + "thickness": 0.01, + "length": 2.0, + "edge_x": 1.245, + "base_z": 0.724, + "lean_deg": 20.0, + "face_color": [ + 0.18, + 0.18, + 0.18 + ], + "tape_width": 0.035, + "bottom_tape_color": [ + 0.35, + 0.35, + 0.35 + ], + "table_tape_color": [ + 0.4, + 0.4, + 0.4 + ], + "table_tape_width": 0.05, + "patch_width": 0.05, + "patch_gap": 0.315, + "patch_profile": [ + [ + 0.915, + 0.7255 + ], + [ + 0.965, + 0.7235 + ], + [ + 0.975, + 0.716 + ], + [ + 0.982, + 0.703 + ], + [ + 0.988, + 0.685 + ], + [ + 0.995, + 0.668 + ], + [ + 1.005, + 0.657 + ] + ] + }, + "surroundings": { + "baked_dir": "data_local/backgrounds/baked", + "variants": [], + "p_real": 0.4, + "p_texture": 0.5, + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p244", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100244, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.5124683976173401, + 0.14660997688770294, + 192.9740447998047 + ], + "tray_init_xy_yaw": [ + 0.4898776113986969, + -0.5931547284126282, + -6.475410461425781 + ], + "cup_end_in_tray_frame": [ + -0.0424, + -0.0265, + 0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321662247180939, + "cup_speed": 0.0037294207140803337, + "gripper_l_end": 0.15149107575416565, + "gripper_r_end": 0.12592367827892303, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 549 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.4, + "err_deg": 0.2, + "ticks": 33 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.8, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.7, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.0, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.0, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.8, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 3.1, + "err_deg": 0.3, + "ticks": 34 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 9.1, + "err_deg": 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"robot": "sg2", + "rev1_pads": false, + "table_in": 29.25, + "cad_gripper": true, + "wrist_calib": "data_collection/real_gripper/analysis/wrist_calib", + "table_29in": false, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 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"p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 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+ "ticks": 479 + }, + "params": { + "PINCH_TILT": 9.116307258605957, + "PINCH_AZ": -83.94343566894531, + "PINCH_DEPTH": 0.019908670336008072, + "PRESHAPE": 0.7578005194664001, + "BODY_H": 0.03636455908417702, + "PLACE_H": 0.010062708519399166, + "RATE": 1.0856934785842896, + "PLACE_DX": -0.012133777141571045, + "PLACE_DY": 0.04803814738988876, + "PLACE_YAW": -12.363201141357422, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.4, + "err_deg": 0.2, + "ticks": 36 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 1.6, + "err_deg": 0.1, + "ticks": 16 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.8, + "err_deg": 0.1, + "ticks": 10 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.0, + "err_deg": 0.2, + 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"table_29in": false, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": true, + "status": "OK", + "cup_init_xy_yaw": [ + 0.41707152128219604, + 0.04235023632645607, + 30.097522735595703 + ], + "tray_init_xy_yaw": [ + 0.5322768688201904, + -0.5192459225654602, + -7.50537109375 + ], + "cup_end_in_tray_frame": [ + -0.0277, + -0.0554, + 0.0 + ], + "cup_tilt_deg": 0.0, + "cup_bottom_z": 0.08321578800678253, + "cup_speed": 0.0013116777408868074, + "gripper_l_end": 0.11015396565198898, + "gripper_r_end": 0.10714560747146606, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 538 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.1, + "err_deg": 0.2, + "ticks": 33 + }, + { + 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[ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": false, + "status": "GRASP_LOST", + "cup_init_xy_yaw": [ 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0.5, + "ticks": 50 + }, + { + "success": true, + "status": "OK", + "tag": "lower", + "err_mm": 9.7, + "err_deg": 1.0, + "ticks": 22 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 9.4, + "err_deg": 0.3, + "ticks": 22 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 5.3, + "err_deg": 0.6, + "ticks": 28 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 3.7, + "err_deg": 0.1, + "ticks": 45 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 2.1, + "err_deg": 0.1, + "ticks": 14 + } + ] + }, + "dr": { + "backdrop": { + "mode": "real", + "variant": "right_armx2_left" + }, + "table": { + "mode": "nominal" + }, + "lights": { + "mode": "random", + "ceiling": [ + { + "pos": [ + 2.614, + -0.906, + 2.778 + ], + "intensity_scale": 0.184, + "kelvin": 5175 + }, + { + "pos": [ + 1.687, + 0.979, + 3.194 + ], + "intensity_scale": 0.19, + "kelvin": 5568 + } + ], + "level": 0.152, + "dome": { + "intensity_scale": 0.76, + "kelvin": 5204 + } + }, + "cup": { + "mode": "random", + "rgb": [ + 0.002, + 0.192, + 0.397 + ], + "roughness": 0.586 + }, + "spots": { + "count": 1, + "spots": [ + { + "aim": [ + 0.597, + -0.408 + ], + "dist": 1.45, + "tilt_deg": 26.1, + "cone_deg": 22.8, + "softness": 0.41, + "radius": 0.037, + "brightness": 2.0, + "kelvin": 5841 + } + ] + } + }, + "arm_clearance": { + "min_m": 0.0651, + "body_l": "gripper_l_rh_p12_rn_r2", + "body_r": "gripper_r_rh_p12_rn_l2", + "tag_l": "hold", + "tag_r": "approach", + "tick": 173 + }, + "start_pose": { + "arm_offset_deg": { + "l": [], + "r": [] + }, + "joints": [], + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "gripper_rand": { + "open_l": 0.1208, + "open_r": 0.1017, + "exec_close_l": 1.4473 + }, + "pair_key": [ + 100274, + 1, + 23 + ], + "length": 476 + } + ], + "status_counts": { + "GRASP_LOST": 6, + "OK": 13, + "NOT_ON_TRAY": 2, + "PLACE_UNREACHABLE": 2, + "CUP_TIPPED": 1 + } +} \ No newline at end of file diff --git a/vw10k_p277/index.json b/vw10k_p277/index.json new file mode 100644 index 0000000000000000000000000000000000000000..c8062d04f3a1cd1532449d62bb1a5c9db8f060c1 --- /dev/null +++ b/vw10k_p277/index.json @@ -0,0 +1,7434 @@ +{ + "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": null, + "centre": [ + 0.5, + 0.19 + ], + "jitter": 0.03, + "yaw_jitter_deg": 10.0, + "yaw_abs_range": null, + "max_shoulder_dist": 0.8, + "ring": null, + "reach_profile": null, + "reach_centre": null, + "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 + ], + "pad_tip_below_centre": -0.005, + "table_clearance": 0.005, + "pregrasp_dist": 0.08, + "lift_height": 0.12, + "durations_s": [ + 5.0, + 2.0, + 0.7, + 0.5, + 1.5, + 0.5 + ], + "extra_s": 2.0, + "pos_tol": 0.01, + "ang_tol_deg": 5.0, + "gripper_open": 0.157, + "gripper_close": 0.79 + }, + "ik": { + "max_joint_step": 0.05, + "damping": 0.05, + "posture_gain": 0.1, + "locked_joints": [ + "joint3" + ] + }, + "scene": { + "fps": 15, + "wrist_rot90": 1, + "wrist_yaw_deg": 0.0, + "wrist_calib": "/workspace/cyclo_lab/data_collection/real_gripper/analysis/wrist_calib", + "gripper_armature": 0.01, + "head_camera": true, + "env_spacing": 10.0, + "settle_ticks": 60, + "board": { + "height": 0.343, + "thickness": 0.01, + "length": 2.0, + "edge_x": 1.245, + "base_z": 0.724, + "lean_deg": 20.0, + "face_color": [ + 0.18, + 0.18, + 0.18 + ], + "tape_width": 0.035, + "bottom_tape_color": [ + 0.35, + 0.35, + 0.35 + ], + "table_tape_color": [ + 0.4, + 0.4, + 0.4 + ], + "table_tape_width": 0.05, + "patch_width": 0.05, + "patch_gap": 0.315, + "patch_profile": [ + [ + 0.915, + 0.7255 + ], + [ + 0.965, + 0.7235 + ], + [ + 0.975, + 0.716 + ], + [ + 0.982, + 0.703 + ], + [ + 0.988, + 0.685 + ], + [ + 0.995, + 0.668 + ], + [ + 1.005, + 0.657 + ] + ] + }, + "surroundings": { + "baked_dir": "data_local/backgrounds/baked", + "variants": [], + "p_real": 0.4, + "p_texture": 0.5, + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p277", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100277, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": false, + "status": "NOT_ON_TRAY", + "cup_init_xy_yaw": [ + 0.521933913230896, + 0.045316021889448166, + 19.394872665405273 + ], + "tray_init_xy_yaw": [ + 0.5401963591575623, + -0.5447958111763, + 0.7899942398071289 + ], + "cup_end_in_tray_frame": [ + -0.0561, + 0.0296, + -0.0315 + ], + "cup_tilt_deg": 83.78042602539062, + "cup_bottom_z": 0.11470337212085724, + "cup_speed": 0.006001776549965143, + "gripper_l_end": 0.15410761535167694, + "gripper_r_end": 0.13043156266212463, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 539 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 0.4, + "err_deg": 0.2, + "ticks": 33 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 2.4, + "err_deg": 0.1, + "ticks": 15 + }, + { + "success": false, + "status": "GRASP_NOT_ESTABLISHED", + "tag": "close", + "finger_q": 1.1 + }, + { + "success": true, + "status": "OK", + "tag": "lift", + "err_mm": 2.5, + "err_deg": 0.1, + "ticks": 9 + }, + { + "success": true, + "status": "OK", + "tag": "move", + "err_mm": 1.1, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 3.6, + "err_deg": 0.1, + "ticks": 8 + }, + { + "success": true, + "status": "OK", + "tag": "retreat", + "err_mm": 6.2, + "err_deg": 0.2, + "ticks": 25 + }, + { + "success": true, + "status": "OK", + "tag": "final", + "err_mm": 9.9, + "err_deg": 2.1, + "ticks": 33 + } + ], + "r": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 1.2, + "err_deg": 0.2, + "ticks": 42 + }, + { + "success": true, + "status": "OK", + "tag": "approach", + "err_mm": 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+ "texture_split": "train", + "texture_gain": 1.0, + "tile_m": [ + 0.5, + 2.0 + ], + "emissive_scale": 1.0, + "x_range": [ + -1.0, + 3.0 + ], + "y_half": 2.5, + "wall_height": 2.5, + "floor_z": 0.003, + "texture_px": 1024 + }, + "table_rand": { + "p_nominal": 0.25, + "p_color": 0.25, + "color_value": [ + 0.02, + 0.25 + ], + "color_saturation": [ + 0.0, + 0.6 + ], + "color_roughness": [ + 0.1, + 0.6 + ], + "textures_dir": "data_local/textures/ambientcg", + "texture_split": "train", + "texture_gain": 0.2, + "texture_roughness": [ + 0.15, + 0.7 + ], + "tile_m": [ + 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": null, + "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" + }, + "task": { + "layout": { + "cup_x": [ + 0.36, + 0.58 + ], + "cup_y": [ + 0.0, + 0.42 + ], + "cup_yaw": [ + 0.0, + 360.0 + ], + "tray_x": [ + 0.4, + 0.55 + ], + "tray_y": [ + -0.6, + -0.28 + ], + "tray_yaw": [ + -10, + 10 + ], + "min_gap": 0.05 + }, + "success": { + "inside_slack": 0.005, + "max_tilt_deg": 15.0, + "bottom_z": [ + 0.06760000000000001, + 0.0976 + ], + "gripper_open_below": 0.3, + "settle_speed": 0.02 + }, + "cup": { + "kind": "cup", + "height": 0.15875, + "bottom_radius": 0.0301625, + "pad_tip_height": 0.015, + "gripper_open": 0.157, + "lift_height": 0.1, + "release_height": 0.025 + } + }, + "args": { + "name": "vw10k_p284", + "program": "data_collection/cup_basket/programs/cup_handover_v6.py", + "planner": false, + "episodes": 24, + "num_envs": 24, + "seed": 100284, + "keep_failed": true, + "no_head": false, + "max_batches": 1, + "max_ticks": 900, + "out_root": "data_local/sim_demos", + "noise_scale": 0.0, + "noise_tags": "reach,carry", + "nominal_layout": false, + "grip_close_r": 0.0, + "pen_check": false, + "solid_cup": false, + "old_cup": false, + "min_arm_clearance": 0.02, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "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, + "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": false, + "motion_noise": false, + "spot_lights": false, + "table_dz": 0.0, + "dr2": false, + "dr_visual": true, + "dr_physical": false, + "split_rng": true, + "cup_gripper_rand": true, + "layout": "data_collection/cup_basket/visual10k_wide/proposed_layout.json", + "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": null, + "spot_lights": { + "count": [ + 0, + 3 + ], + "aim_x": [ + 0.15, + 0.75 + ], + "aim_y": [ + -0.6, + 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, + "cup_gripper_rand": { + "open": [ + 0.1, + 0.157 + ], + "exec_l": [ + 1.3, + 1.5 + ] + }, + "cup_colour": { + "p_nominal": 0.2, + "hue": 0.05, + "saturation": 0.1, + "value": 0.1, + "roughness": [ + 0.3, + 0.8 + ] + } + }, + "program": { + "path": "data_collection/cup_basket/programs/cup_handover_v6.py", + "sha": "a518ebf00544", + "source": "\"\"\"Cup-to-basket handover v6 (2026-11-04) = v5 with the two residual failure modes of cup_v5_test24 (17/24, median 445 ticks) fixed:\n PINCH 3 GRASP_LOST (cup slid out of the rim pinch during the carry) + 1 tipped + 1 missed: the firm close ramp goes back to v3's\n 0.5 s (the 1.0 s ramp dragged the cup 3-57 mm across the table while one pad led), the carry is 2.8 s (was 2.4; the\n handover point is 8 cm further than v3's) after a 0.2 s pause that lets the hanging cup settle before it moves.\n PLACE 2 NOT_ON_TRAY: after the release the lift path bowed 5-7 cm sideways (joint lag near the reach limit) and a pad dragged\n the cup's rim up 11 mm, tipping it. Now the hand must be RETREAT_CLEAR = 0.11 m (was 0.085) behind the cup axis before it\n lifts; a short back-off is continued diagonally toward the robot's centre (-x, +y: reachable where straight back was not),\n then a 0.3 s pause and a 1.6 s lift (v5: 0.2 s / 1.3 s, which brought v3's \"bowed path\" knock-over back).\n\nv5 text follows.\nCup-to-basket handover v5 (2026-11-04) = v4 made FASTER and with its two failure modes fixed (README change log 2026-11-04,\ncup_v4_test10: 6/10, 542-604 ticks; ticks by phase measured from obs.npz):\n SPEED shorter moves everywhere (reach 3.0 -> 2.2 s, approaches 1.5 -> 1.0, carries 3.0 -> 2.4, lower 1.5 -> 1.2, retreats\n and the homing 1.8/2.0/1.5/1.0 -> 1.3/1.6/1.2/0.8 s), the pinch's first close stage is a plain 0.3 s ramp (no 0.7 s\n finger wait), settle 0.6 -> 0.4 s. Target ~400 ticks (27 s, the real demos' median is 28 s) instead of ~550.\n PINCH the hand descends fully open to the SAME pose as v3 (not 18.5 mm deeper as v4): the uncompensated first stage then\n advances the pad tips those 18.5 mm down to v3's depth. PINCH_DEPTH band 0.016-0.026 -> 0.015-0.022: both v4 pinch\n failures (CUP_TIPPED, GRASP_LOST) were the two deepest draws (0.024, 0.025).\n PLACE both NOT_ON_TRAY cases: the place point had been pulled toward the robot (x 0.38) by the \"unreachable\" rule, the\n 12 cm back-off along -x then fell 5-11 cm short (NOT_CONVERGED) and the lift with the 95 mm open pads around the cup\n caught its 89 mm rim. Now: PLACE_DX band -0.045..-0.015 -> -0.02..0.005, the unreachable rule pulls the place point\n toward the robot's CENTRE (+y) instead of toward the robot, and the retreat is closed-loop: back off, measure the\n horizontal TCP-to-cup-axis distance, retry the back-off once if < RETREAT_CLEAR, only then lift.\n\nv4 text follows.\nCup-to-basket handover v4 (2026-11-04) = v3 with the user's three real-rollout fixes (README change log 2026-11-04):\n 1. The LEFT hand descends over the rim FULLY OPEN (0.157, 95 mm); the pre-shape (0.80, ~35 mm gap) happens only once the\n pads straddle the wall, as the first stage of a two-stage close (quick 0.157 -> 0.80 with no contact, then the slow firm\n close). v3 pre-closed 8 cm above the rim, which the DP copied as a premature close.\n 2. Handover point moved toward the RIGHT shoulder and raised (left TCP y 0.09 -> 0.01, z +0.33 -> +0.36) so the right hand\n makes a short approach instead of reaching across the centre line.\n 3. The right close is still EXECUTED at 0.50 (no penetration of the rigid cup) but the collector RECORDS it as 0.70\n (--grip_rec_r 0.70, the real robot's maximum; the real cup flexes). Nothing else changed from v3.\n\nv3 text follows.\nCup-to-basket handover v3 (2026-11-03) = v2 for the MEASURED cup (6.25 in tall, 3.5 in top, 2 3/8 in bottom cone,\ncup_handover.usda), a firmer right grasp and arm-to-arm clearance (README change log 2026-11-03). v2 kept unchanged.\n\nv2 (2026-11-02): one coherent procedure, written from the real demos' phases (README section 1,\nanalysis/real_ep0_*.png) and every sim finding of v0/v1 (README change log), instead of patches on v0.\n\nPhases (real ep 0 timing in brackets):\n 1 LEFT PINCH [0-4 s] reach above the cup's near rim with the fingers PRE-CLOSED (~35 mm gap: both pads reach the\n 12 mm collider wall together; a 95 mm open close shoves the 35 g cup away), descend, close firmly\n (collector --grip_exec_l executes 1.40, records 1.14 = the real value), lift 4 cm. Check: the cup\n rose with the hand. One retry (open, back off, re-read the cup) if it did not; the cup tipped\n over = fail.\n 2 CARRY [4-6 s] left brings the hanging cup to the real handover pose (TCP ~0.50, 0.09, +0.33; the cup hangs\n tilted toward the right hand), right moves to its pre-pose at the same time. Wait for the\n swing to die out.\n 3 RIGHT GRASP [6-8 s] right comes in from the right, approach = the real direction made square to the cup axis, pads\n at BODY_H near the cup's bottom (a straight collider band there; the real right hand closes to\n 0.53 = this width), close to 0.45 (GRIP_CLOSE['r']: the fingers stop ON the\n cup surface; 0.60 squeezed them 4-8 mm into the rigid cup).\n 4 RELEASE [9 s] left opens and backs up/away while the right holds still. Check: the cup stays with the right.\n 5 RIGHT CARRY [10-15 s] right lifts, turns the cup upright, carries it above the basket centre. The hand->cup transform is\n re-measured after every move (the cup settles in the pads), and the hand is corrected in closed\n loop until the cup is centred over the basket.\n 6 PLACE [15-17 s] lower the cup to PLACE_H above the basket top, open, retreat up; both arms go home.\nFinger joint values are NOT used as grasp checks (a good rim pinch reads ~1.10 like an empty close; a held cup at a deep\nclose reads like an empty one too): every check is \"does the cup move with the hand\".\n\"\"\"\n\nCUP_H = 0.15875 # m, cup height (6.25 in, user 2026-11-03; v2: 0.1397)\nRIM_R = 0.0445 # m, rim radius\nWALL = 0.012 # m, collider wall (geometry.CUP_HOLLOW_WALL)\n# ---- left pinch\nPINCH_SIDE_DEG = 180.0 # near side of the rim (-x): the pinch hinge axis is x, so the cup swings in y-z, across the right pads\nPINCH_TILT = 15.0 # deg from vertical, toward PINCH_AZ (real ~23)\nPINCH_AZ = -90.0\nPINCH_DEPTH = 0.020 # m, pad tips below the rim\nPRESHAPE = 0.80 # first close stage AT THE RIM (~35 mm pad gap), v4: no longer applied during the descent\nPRESHAPE_RAMP_S = 0.3 # s, quick first stage (no contact: the wall is 12 mm, the hand is centred within +-11 mm)\nGRIP_OPEN = 0.157 # the collector's open command; the descent happens at this opening\n# pad-centre advance along the approach axis vs gripper joint (cap/skills.py PAD_ADVANCE); programs cannot import\nPAD_ADVANCE_Q = (0.157, 0.258, 0.600, 0.900, 1.100)\nPAD_ADVANCE_M = (0.0085, 0.0125, 0.0235, 0.0285, 0.0300)\nPINCH_RAMP_S = 0.5 # v6: back to v3 (a 1.0 s ramp dragged the cup across the table)\nPREGRASP = 0.08\nLIFT = 0.04\n# ---- carry / handover (analysis/real_key_poses.json)\nHAND_L = (0.50, 0.01, 0.36) # v4: left TCP at the handover moved 8 cm toward the right shoulder, 3 cm higher (v3: 0.50, 0.09, 0.33)\nHAND_L_APPROACH = (0.07, -0.86, -0.51)\nR_PRE = (0.52, -0.22, 0.32)\nR_PRE_APPROACH = (0.0, 1.0, -0.3)\nR_APPROACH = (0.20, 0.76, -0.62) # real right approach at the handover (made square to the cup axis)\nBODY_H = 0.036 # m up the cup axis where the right pads close (collider band 0.025-0.050)\nR_PREGRASP = 0.06\nR_RAMP_S = 0.6\nSETTLE_S = 0.4 # s, let the hanging cup stop swinging before the right reads its pose\n# ---- release / place\nL_AWAY = (0.40, 0.30, 0.30)\nPLACE_H = 0.012 # m, cup bottom above the basket top when the fingers open\nABOVE = 0.10 # m, approach height above the place point\nRETREAT_BACK = 0.12 # m, slide the opened hand back out of the cup before lifting (v3: 0.09 -> 0.12)\nRETREAT_CLEAR = 0.11 # m, v5: horizontal TCP-to-cup-axis distance that puts the open pad tips (TCP + 3 cm) clear of the 4.5 cm rim radius before the lift\nRIM_CLEAR = 0.06 # m, v3: the right TCP rises to this height above the placed cup's rim before it goes home\nPLACE_TOL = 0.010 # m, closed-loop xy tolerance of the cup over the place point\nPLACE_DX = -0.01 # m, place point offset from the basket centre (world): toward the robot and the middle, as the real\nPLACE_DY = 0.055 # releases (right TCP x 0.47-0.52, y -0.33..-0.39 = the basket's near-left part)\nPLACE_MAX_OFF = 0.065 # m, keeps the cup >= 2.5 cm inside the 24.5 cm basket top\nPLACE_YAW = 0.0 # deg, direction of the right hand's approach at the place (0 = +x, forward, the real release)\nL_HOME = (0.42, 0.33, 0.22)\nR_HOME = (0.42, -0.33, 0.22)\n# ---- timing\nREACH_S = 2.2\nAPPROACH_S = 1.0\nCARRY_S = 2.8\nRIGHT_S = 1.0\nLOWER_S = 1.2\nRATE = 1.0\n\nPARAMS = {\"PINCH_TILT\": {\"dist\": \"uniform\", \"lo\": 8.0, \"hi\": 22.0},\n \"PINCH_AZ\": {\"dist\": \"uniform\", \"lo\": -98.0, \"hi\": -82.0},\n \"PINCH_DEPTH\": {\"dist\": \"uniform\", \"lo\": 0.015, \"hi\": 0.022},\n \"PRESHAPE\": {\"dist\": \"uniform\", \"lo\": 0.74, \"hi\": 0.84},\n \"BODY_H\": {\"dist\": \"uniform\", \"lo\": 0.031, \"hi\": 0.041},\n \"PLACE_H\": {\"dist\": \"uniform\", \"lo\": 0.008, \"hi\": 0.018},\n \"RATE\": {\"dist\": \"uniform\", \"lo\": 0.9, \"hi\": 1.2},\n \"PLACE_DX\": {\"dist\": \"uniform\", \"lo\": -0.02, \"hi\": 0.005},\n \"PLACE_DY\": {\"dist\": \"uniform\", \"lo\": 0.045, \"hi\": 0.065},\n \"PLACE_YAW\": {\"dist\": \"uniform\", \"lo\": -15.0, \"hi\": 15.0},\n \"PREGRASP\": None, \"PINCH_SIDE_DEG\": None}\n\n\n\ndef qmul(a, b):\n w1, x1, y1, z1 = a; w2, x2, y2, z2 = b\n return np.array([w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2, w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,\n w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2, w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2])\n\n\ndef place_quat(R, cup):\n \"\"\"The cup upright, spun about its (vertical) axis so the right hand's approach points along PLACE_YAW in the horizontal\n plane (needs a fresh R.grab_transform()).\"\"\"\n q0 = R.upright_quat(cup)\n a = R.axes(R.hand_pose_for_object(cup.pos, q0))[0]\n d = math.radians(PLACE_YAW) - math.atan2(a[1], a[0])\n return qmul(np.array([math.cos(d / 2), 0.0, 0.0, math.sin(d / 2)]), q0)\n\n\ndef pad_adv(q):\n return float(np.interp(q, PAD_ADVANCE_Q, PAD_ADVANCE_M))\n\n\ndef tilt_deg(cup):\n return math.degrees(math.acos(max(-1.0, min(1.0, float(cup.up()[2])))))\n\n\ndef cup_with(api, arm, point_h, max_dist, min_z):\n \"\"\"The cup is off the table (bottom above min_z) and the point point_h up its axis is within max_dist of arm's TCP.\"\"\"\n c, t = api.cup(), arm.tcp()\n return bool(c.pos[2] > min_z and np.linalg.norm(c.pos + c.up() * point_h - t.pos) < max_dist)\n\n\ndef left_pinch(api, L, tt, rng):\n \"\"\"Phase 1 with one retry. -> status string (\"OK\" or a failure).\"\"\"\n for attempt in range(2):\n cup = api.cup()\n if tilt_deg(cup) > 20.0:\n return \"CUP_TIPPED\"\n g = L.pinch_rim_pose(cup, CUP_H, RIM_R, side_deg=PINCH_SIDE_DEG, tilt_deg=PINCH_TILT, azimuth_deg=PINCH_AZ,\n depth=PINCH_DEPTH, pregrasp_dist=PREGRASP, wall_thickness=WALL)\n # v5: descend FULLY OPEN to v3's pinch pose (planned for pads at PRESHAPE: open pads sit 18.5 mm higher); stage 1 at the\n # rim ramps 0.157 -> PRESHAPE in 0.3 s uncompensated, which advances the pad tips down to the planned depth without\n # touching the wall (35 mm gap vs 12 mm wall); stage 2 is the slow, compensated firm pinch.\n yield from L.move_to(g.pregrasp, dur_s=(REACH_S if attempt == 0 else 1.0) * RATE, tag=\"reach\")\n yield from L.move_to(g.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from L.hold(rng.uniform(0.1, 0.3), tag=\"close\")\n yield from L.set_gripper(PRESHAPE, dur_s=PRESHAPE_RAMP_S, tag=\"close\")\n yield from L.close_gripper(pause_s=0.0, ramp_s=PINCH_RAMP_S)\n yield from L.hold(0.2)\n yield from L.move_by(dz=LIFT, dur_s=0.6 * RATE, tag=\"lift\")\n if cup_with(api, L, CUP_H, 0.06, tt + 0.02):\n yield from L.hold(0.2) # v6: let the hanging cup settle before the carry\n return \"OK\"\n yield from L.open_gripper(pause_s=0.1) # missed: open, back off, look again\n yield from L.move_by(dz=0.08, dur_s=0.6 * RATE, tag=\"retreat\")\n yield from L.hold(0.3)\n return \"PINCH_FAILED\"\n\n\ndef play_once(api, rng):\n L, R = api.l, api.r\n tt = L.table_top()\n start_l, start_r = L.tcp(), R.tcp() # both arms return to their start poses at the end (the real demos)\n up = lambda p: [p[0], p[1], tt + p[2]]\n # 1 left pinch\n st = yield from left_pinch(api, L, tt, rng)\n if st != \"OK\":\n return {\"success\": False, \"status\": st}\n # 2 carry to the handover pose; right to its pre-pose\n hand_l = L.pose_from_axes(up(HAND_L), HAND_L_APPROACH)\n pre_r = R.pose_from_axes(up(R_PRE), R_PRE_APPROACH)\n yield from api.both(L.move_to(hand_l, dur_s=CARRY_S * RATE, tag=\"move\"), R.move_to(pre_r, dur_s=CARRY_S * RATE, tag=\"reach\"))\n yield from L.hold(SETTLE_S)\n if not cup_with(api, L, CUP_H, 0.06, tt + 0.10):\n return {\"success\": False, \"status\": \"GRASP_LOST\", \"arm\": \"l\"}\n # 3 right grasp, square to the hanging cup's axis\n cup = api.cup()\n u = cup.up()\n a = np.asarray(R_APPROACH, float); a = a - np.dot(a, u) * u; a = a / np.linalg.norm(a)\n s = R.side_grasp_pose(cup, BODY_H, approach=a, pregrasp_dist=R_PREGRASP)\n yield from R.move_to(s.pregrasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.move_to(s.grasp, dur_s=APPROACH_S * RATE, tag=\"approach\")\n yield from R.close_gripper(pause_s=0.15, ramp_s=R_RAMP_S)\n yield from R.hold(0.2)\n # 4 left releases and backs off; the right holds still\n yield from L.open_gripper(pause_s=0.15)\n yield from L.move_by(dz=0.05, dur_s=0.5 * RATE, tag=\"retreat\")\n away = L.pose_from_axes(up(L_AWAY), [0.0, 0.0, -1.0])\n yield from api.both(L.move_to(away, dur_s=1.0 * RATE, tag=\"retreat\"), R.hold(1.0))\n if not cup_with(api, R, BODY_H, 0.08, tt + 0.10):\n return {\"success\": False, \"status\": \"HANDOVER_FAILED\"}\n # 5 right: lift, carry above the basket with the cup upright and the hand BEHIND it pointing forward (the real release:\n # TCP ~(0.47, -0.33, +0.16), approach (1, 0, 0)); v2.0 righted the cup by the smallest rotation, which left the hand\n # beside the cup pointing +y with the wrist out over the basket's far side: out of reach (moves 8-15 cm short, the cup\n # released ~12 cm above the basket). The cup is round, so spinning it about its own axis costs nothing.\n yield from R.move_by(dz=0.03, dur_s=0.6 * RATE, tag=\"lift\")\n yield from R.hold(0.2)\n top = api.tray().pos.copy() # basket top centre (the flipped tray's origin)\n off = np.array([PLACE_DX, PLACE_DY])\n for k in range(4): # carry, then closed-loop centring; pull toward the robot if unreachable\n above = np.array([top[0] + off[0], top[1] + off[1], top[2] + PLACE_H + ABOVE])\n R.grab_transform()\n r = yield from R.move_to(R.hand_pose_for_object(above, place_quat(R, api.cup())), dur_s=(CARRY_S if k == 0 else 0.8) * RATE, tag=\"carry\")\n yield from R.hold(0.2)\n if np.linalg.norm(api.cup().pos[:2] - above[:2]) < PLACE_TOL:\n break\n if not r[\"success\"]:\n off = off + np.array([-0.005, 0.025]) # v5: toward the robot's centre, not toward the robot\n off = off * min(1.0, PLACE_MAX_OFF / max(np.linalg.norm(off), 1e-6))\n # 6 lower in closed loop until the cup bottom is just above the basket top (never drop it from height), release, home\n for k in range(3):\n R.grab_transform()\n tgt = np.array([above[0], above[1], top[2] + PLACE_H])\n yield from R.move_to(R.hand_pose_for_object(tgt, place_quat(R, api.cup())), dur_s=(LOWER_S if k == 0 else 0.7) * RATE, tag=\"lower\")\n if api.cup().pos[2] - top[2] < PLACE_H + 0.012:\n break\n if api.cup().pos[2] - top[2] > 0.035:\n return {\"success\": False, \"status\": \"PLACE_UNREACHABLE\", \"cup_above_basket_m\": round(float(api.cup().pos[2] - top[2]), 3)}\n yield from R.hold(0.15)\n yield from R.open_gripper(pause_s=0.1)\n # retreat: slide the open fingers back OUT of the cup along the hand's own axis first, then up, then home (v2.1 lifted\n # straight up with the pads still around the cup and then swept home through it: placed cups were knocked over/off)\n t = R.tcp(); a = R.axes(t)[0]\n yield from R.move_to(R.pose_from_axes(t.pos - RETREAT_BACK * a, a), dur_s=0.8 * RATE, tag=\"retreat\")\n # v5: lift only once the open pads are clear of the rim; a short back-off (reach limit) is retried once along the same axis\n for _ in range(2):\n t = R.tcp(); c = api.cup()\n if np.linalg.norm((t.pos - c.pos)[:2]) >= RETREAT_CLEAR:\n break\n # v6: straight back is often at the reach limit; back + toward the robot's centre is not (the pads are already past the cup)\n yield from R.move_to(R.pose_from_axes(t.pos - 0.05 * a + np.array([0.0, 0.05, 0.0]), a), dur_s=0.6 * RATE, tag=\"retreat\")\n # v3: lift until the TCP is RIM_CLEAR above the placed cup's RIM, cross to above the start pose at that height, then go\n # down. v2's fixed 8 cm lift left the hand ~12 cm above the cup bottom = below the 15.9 cm cup's rim, and the start pose\n # (z ~ basket top + 0.12) is lower than the rim too: the straight line home swept through the cup top and knocked\n # 6/16 placed cups over (cup_v3_grip50, README 2026-11-03).\n t = R.tcp(); clear_z = max(t.pos[2] + 0.03, api.cup().pos[2] + CUP_H + RIM_CLEAR)\n a = R.axes(t)[0]\n yield from R.hold(0.3) # let the joints catch up: v3.1 lifted 15 cm in 1 s and the lagging joints\n t = R.tcp() # bowed the hand's real path 6-7 cm back INTO the cup (3/16 knocked over)\n yield from R.move_to(R.pose_from_axes([t.pos[0], t.pos[1], clear_z], a), dur_s=1.6 * RATE, tag=\"retreat\")\n ax_s = R.axes(start_r)\n over = R.pose_from_axes([start_r.pos[0], start_r.pos[1], max(clear_z, start_r.pos[2])], ax_s[0], closing_hint=ax_s[1])\n yield from api.both(L.move_to(start_l, dur_s=1.6 * RATE, tag=\"final\"), R.move_to(over, dur_s=1.2 * RATE, tag=\"final\"))\n yield from R.move_to(start_r, dur_s=0.8 * RATE, tag=\"final\")\n return {\"success\": True, \"status\": \"OK\"}\n", + "params": { + "PINCH_TILT": { + "dist": "uniform", + "lo": 8.0, + "hi": 22.0 + }, + "PINCH_AZ": { + "dist": "uniform", + "lo": -98.0, + "hi": -82.0 + }, + "PINCH_DEPTH": { + "dist": "uniform", + "lo": 0.015, + "hi": 0.022 + }, + "PRESHAPE": { + "dist": "uniform", + "lo": 0.74, + "hi": 0.84 + }, + "BODY_H": { + "dist": "uniform", + "lo": 0.031, + "hi": 0.041 + }, + "PLACE_H": { + "dist": "uniform", + "lo": 0.008, + "hi": 0.018 + }, + "RATE": { + "dist": "uniform", + "lo": 0.9, + "hi": 1.2 + }, + "PLACE_DX": { + "dist": "uniform", + "lo": -0.02, + "hi": 0.005 + }, + "PLACE_DY": { + "dist": "uniform", + "lo": 0.045, + "hi": 0.065 + }, + "PLACE_YAW": { + "dist": "uniform", + "lo": -15.0, + "hi": 15.0 + }, + "PREGRASP": null, + "PINCH_SIDE_DEG": null + }, + "nominal": { + "CUP_H": 0.15875, + "RIM_R": 0.0445, + "WALL": 0.012, + "PINCH_SIDE_DEG": 180.0, + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "PRESHAPE_RAMP_S": 0.3, + "GRIP_OPEN": 0.157, + "PAD_ADVANCE_Q": [ + 0.157, + 0.258, + 0.6, + 0.9, + 1.1 + ], + "PAD_ADVANCE_M": [ + 0.0085, + 0.0125, + 0.0235, + 0.0285, + 0.03 + ], + "PINCH_RAMP_S": 0.5, + "PREGRASP": 0.08, + "LIFT": 0.04, + "HAND_L": [ + 0.5, + 0.01, + 0.36 + ], + "HAND_L_APPROACH": [ + 0.07, + -0.86, + -0.51 + ], + "R_PRE": [ + 0.52, + -0.22, + 0.32 + ], + "R_PRE_APPROACH": [ + 0.0, + 1.0, + -0.3 + ], + "R_APPROACH": [ + 0.2, + 0.76, + -0.62 + ], + "BODY_H": 0.036, + "R_PREGRASP": 0.06, + "R_RAMP_S": 0.6, + "SETTLE_S": 0.4, + "L_AWAY": [ + 0.4, + 0.3, + 0.3 + ], + "PLACE_H": 0.012, + "ABOVE": 0.1, + "RETREAT_BACK": 0.12, + "RETREAT_CLEAR": 0.11, + "RIM_CLEAR": 0.06, + "PLACE_TOL": 0.01, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_MAX_OFF": 0.065, + "PLACE_YAW": 0.0, + "L_HOME": [ + 0.42, + 0.33, + 0.22 + ], + "R_HOME": [ + 0.42, + -0.33, + 0.22 + ], + "REACH_S": 2.2, + "APPROACH_S": 1.0, + "CARRY_S": 2.8, + "RIGHT_S": 1.0, + "LOWER_S": 1.2, + "RATE": 1.0 + } + }, + "tags": [ + "idle", + "reach", + "approach", + "close", + "hold", + "lift", + "final", + "retreat", + "open", + "move", + "done", + "tilt", + "present", + "align", + "twist", + "regrasp", + "pull_off" + ], + "grip_close": { + "l": 1.14, + "r": 0.5 + }, + "grip_exec_l": 1.4, + "grip_rec_r": 0.7, + "episodes": [ + { + "episode": 0, + "success": false, + "status": "NOT_ON_TRAY", + "cup_init_xy_yaw": [ + 0.4581054747104645, + 0.021442960947752, + 174.47579956054688 + ], + "tray_init_xy_yaw": [ + 0.44709503650665283, + -0.5107836127281189, + -3.5582804679870605 + ], + "cup_end_in_tray_frame": [ + 0.0494, + -0.2199, + -0.0755 + ], + "cup_tilt_deg": 180.0, + "cup_bottom_z": 0.15874768793582916, + "cup_speed": 0.0013251613127067685, + "gripper_l_end": 0.12748612463474274, + "gripper_r_end": 0.13083504140377045, + "final_tags": { + "l": "done", + "r": "done" + }, + "table_top_z": 0.7429, + "program_sha": "a518ebf00544", + "program_result": { + "success": true, + "status": "OK", + "ticks": 447 + }, + "params": { + "PINCH_TILT": 15.0, + "PINCH_AZ": -90.0, + "PINCH_DEPTH": 0.02, + "PRESHAPE": 0.8, + "BODY_H": 0.036, + "PLACE_H": 0.012, + "RATE": 1.0, + "PLACE_DX": -0.01, + "PLACE_DY": 0.055, + "PLACE_YAW": 0.0, + "PREGRASP": 0.08, + "PINCH_SIDE_DEG": 180.0 + }, + "skills": { + "l": [ + { + "success": true, + "status": "OK", + "tag": "reach", + "err_mm": 0.7, + "err_deg": 0.2, + "ticks": 33 + 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