diff --git a/.gitattributes b/.gitattributes index c44173662dd6cde6fcd8a6258f1f89ded6dde8d7..fbd7626afb71f42d3a343999e1fc1c969f92835d 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1015,3 +1015,4 @@ curobot/fwh/swap_blocks/hdf5/episode_0000114.hdf5 filter=lfs diff=lfs merge=lfs curobot/fwh/swap_blocks/hdf5/episode_0000087.hdf5 filter=lfs diff=lfs merge=lfs -text curobot/fwh/swap_blocks/hdf5/episode_0000152.hdf5 filter=lfs diff=lfs merge=lfs -text curobot/fwh/swap_blocks/hdf5/episode_0000099.hdf5 filter=lfs diff=lfs merge=lfs -text +curobot/fwh/play_tic_tac_toe/hdf5/2026-07-24_22-15-53_semantic-w05-s0000-a000.hdf5 filter=lfs diff=lfs merge=lfs -text diff --git a/curobot/fwh/play_tic_tac_toe/hdf5/2026-07-24_22-15-53_semantic-w05-s0000-a000.hdf5 b/curobot/fwh/play_tic_tac_toe/hdf5/2026-07-24_22-15-53_semantic-w05-s0000-a000.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..bdc81555de99c4d272e50a4ec87c7760a4d1c7d9 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/hdf5/2026-07-24_22-15-53_semantic-w05-s0000-a000.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b09f643a79410f17320692a251dfa6c589fb8d687558c4808479a7ceccea78ae +size 35608286 diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-38_semantic-w00-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-38_semantic-w00-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..77231266378d5696f23fe7de07763dd3b72a6885 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-38_semantic-w00-s0000-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-38_semantic-w00-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221539.log +[0.046s] [ext: omni.kit.async_engine-0.0.3] startup +[0.158s] [ext: omni.metrics.core-0.0.3] startup +[0.158s] [ext: omni.client.lib-1.1.0] startup +[0.170s] [ext: omni.blobkey-1.1.2] startup +[0.171s] [ext: omni.stats-1.0.1] startup +[0.171s] [ext: omni.datastore-0.0.0] startup +[0.177s] [ext: omni.client-1.3.0] startup +[0.180s] [ext: omni.ujitso.default-1.0.0] startup +[0.182s] [ext: omni.hsscclient-1.1.2] startup +[0.214s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.216s] [ext: omni.assets.plugins-0.0.0] startup +[0.217s] [ext: omni.gpu_foundation-0.0.0] startup +[0.223s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:39Z [205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:39Z [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) +[0.224s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:39Z [272ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:39Z [276ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:39Z [276ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:39Z [276ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:39Z [309ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:41Z [2,143ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,143ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,145ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,145ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,147ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:41Z [2,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 562811 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.783s] [ext: omni.materialx.libs-1.0.7] startup +[2.790s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.791s] [ext: omni.kit.test-2.0.1] startup +[2.828s] [ext: omni.kit.pipapi-0.0.0] startup +[2.829s] [ext: omni.usd.config-1.0.6] startup +[2.831s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.832s] [ext: omni.usd.libs-1.0.1] startup +[2.905s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.905s] [ext: omni.mdl-56.0.3] startup +[2.959s] [ext: omni.iray.libs-0.0.0] startup +[2.964s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.966s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.051s] [ext: omni.kit.telemetry-0.5.2] startup +[3.084s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:15:42Z [3,066ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [3,066ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.087s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:15:42Z [3,082ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [3,082ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:42Z [3,089ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [3,089ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.109s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.111s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:15:42Z [3,095ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [3,095ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:42Z [3,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [3,096ms] [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) +2026-07-24T14:15:42Z [3,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [3,097ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.214s] [ext: omni.ui-2.27.1] startup +[3.224s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.226s] [ext: carb.audio-0.1.0] startup +[3.254s] [ext: omni.uiaudio-1.0.0] startup +[3.255s] [ext: omni.kit.uiapp-0.0.0] startup +[3.255s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.258s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.264s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.266s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.269s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.272s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.292s] [ext: omni.usd_resolver-1.0.0] startup +[3.296s] [ext: omni.usd.core-1.5.3] startup +[3.298s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.317s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.324s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.351s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.352s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.353s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.356s] [ext: omni.graph.exec-0.9.6] startup +[3.356s] [ext: omni.kit.actions.core-1.0.0] startup +[3.358s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.358s] [ext: omni.kit.exec.core-0.13.4] startup +[3.360s] [ext: omni.kit.commands-1.4.10] startup +[3.362s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.365s] [ext: omni.activity.core-1.0.3] startup +[3.366s] [ext: omni.resourcemonitor-107.0.1] startup +[3.368s] [ext: omni.timeline-1.0.14] startup +[3.369s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.371s] [ext: usdrt.scenegraph-7.6.1] startup +[3.400s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.401s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.407s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.410s] [ext: omni.usd-1.13.10] startup +[3.429s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.440s] [ext: omni.index.libs-380600.8087.0] startup +[3.440s] [ext: omni.volume-0.5.2] startup +[3.442s] [ext: omni.ujitso.client-0.0.0] startup +[3.442s] [ext: omni.index-1.0.1] startup +[3.442s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.443s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:15:42Z [3,441ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.472s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.473s] [ext: omni.kit.clipboard-1.0.5] startup +[3.474s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.476s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.479s] [ext: omni.kit.menu.core-1.1.2] startup +[3.480s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.482s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.483s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.484s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.485s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.485s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.489s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.490s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.496s] [ext: omni.ui.scene-1.11.5] startup +[3.499s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.499s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.510s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.516s] [ext: omni.kit.context_menu-1.8.6] startup +[3.517s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.521s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.523s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.525s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.526s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.526s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.529s] [ext: omni.kit.material.library-2.0.7] startup +[3.532s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.534s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.536s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.547s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.551s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.555s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.555s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.558s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.561s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.562s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.564s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.565s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.566s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.567s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.571s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.574s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.574s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.576s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.576s] [ext: omni.fabric.commands-1.1.6] startup +[3.578s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.579s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.580s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.581s] [ext: omni.debugdraw-0.1.4] startup +[3.583s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.592s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.592s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.592s] [ext: omni.kvdb-107.3.26] startup +[3.593s] [ext: omni.convexdecomposition-107.3.26] startup +[3.596s] [ext: omni.physx.foundation-107.3.26] startup +[3.597s] [ext: omni.localcache-107.3.26] startup +[3.598s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.598s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.599s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.599s] [ext: omni.usdphysics-107.3.26] startup +[3.601s] [ext: omni.kit.window.file-2.0.5] startup +[3.603s] [ext: omni.physx.cooking-107.3.26] startup +[3.605s] [ext: omni.physics-107.3.26] startup +[3.608s] [ext: omni.kit.window.property-1.12.1] startup +[3.610s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.619s] [ext: omni.physx-107.3.26] startup +[3.626s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.628s] [ext: omni.kit.property.usd-4.5.12] startup +[3.636s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.637s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:15:43Z [3,619ms] [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. +[3.638s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.639s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.649s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.652s] [ext: omni.inspect-1.0.2] startup +[3.653s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.662s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.663s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.667s] [ext: omni.graph.core-2.184.5] startup +[3.669s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.671s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.691s] [ext: omni.physx.commands-107.3.26] startup +[3.695s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.696s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:15:43Z [3,681ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.700s] [ext: omni.physx.ui-107.3.26] startup +[3.725s] [ext: isaacsim.core.version-2.0.6] startup +[3.725s] [ext: omni.physics.tensors-107.3.26] startup +[3.729s] [ext: omni.warp.core-1.8.2] startup +[3.883s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.884s] [ext: isaacsim.storage.native-1.5.1] startup +[3.885s] [ext: omni.physx.tensors-107.3.26] startup +[3.899s] [ext: isaacsim.core.utils-3.5.1] startup +[3.901s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.070s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.071s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.073s] [ext: omni.kit.window.stage-2.6.1] startup +[5.081s] [ext: omni.kit.menu.create-2.0.1] startup +[5.082s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.088s] [ext: omni.kit.scripting-107.3.2] startup +[5.093s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.098s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.098s] [ext: omni.graph.tools-1.79.2] startup +[5.132s] [ext: omni.ui_query-1.1.8] startup +[5.132s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.133s] [ext: omni.graph-1.141.2] startup +[5.195s] [ext: omni.graph.action_core-1.1.7] startup +[5.197s] [ext: omni.kit.ui_test-1.3.7] startup +[5.201s] [ext: omni.kit.browser.core-2.3.13] startup +[5.206s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.210s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.216s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.220s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.234s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.239s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.250s] [ext: omni.graph.action-1.130.0] startup +[5.252s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.257s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.267s] [ext: isaacsim.gui.components-1.2.1] startup +[5.274s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.279s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.363s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.366s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.375s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.432s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:15:44Z [5,418ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.439s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.440s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.443s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.448s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.450s] [ext: omni.graph.image.core-0.6.1] startup +[5.452s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.452s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.453s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.457s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.459s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.460s] [ext: omni.graph.nodes-1.170.10] startup +[5.468s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.473s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.478s] [ext: omni.syntheticdata-0.6.13] startup +[5.506s] [ext: omni.videoencoding-0.1.2] startup +[5.511s] [ext: omni.warp-1.8.2] startup +[5.517s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.537s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.539s] [ext: isaacsim.core.prims-0.6.1] startup +[5.571s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.584s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:15:45Z [5,722ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:15:45Z [5,722ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:15:45Z [5,724ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.747s] [ext: isaacsim.core.api-4.8.0] startup +[5.797s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.843s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.858s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.868s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.876s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.894s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.905s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.925s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.934s] [ext: omni.sensors.net-1.0.0] startup +[5.947s] [ext: isaacsim.app.about-2.0.11] startup +[5.965s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.967s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.980s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.006s] [ext: omni.kit.property.audio-1.0.16] startup +[6.043s] [ext: omni.kit.property.camera-1.0.10] startup +[6.054s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.086s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.152s] [ext: omni.kit.property.light-1.0.12] startup +[6.221s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.229s] [ext: omni.kit.selection-0.1.6] startup +[6.322s] [ext: omni.kit.property.material-1.11.9] startup +[6.488s] [ext: omni.kit.property.transform-1.5.13] startup +[6.512s] [ext: omni.kit.property.render-1.2.1] startup +[6.521s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.534s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.570s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.595s] [ext: isaacsim.gui.property-1.1.3] startup +[6.602s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.609s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.631s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.650s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.696s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.704s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.716s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.724s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.730s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.746s] [ext: omni.kit.window.console-1.1.4] startup +[6.769s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.781s] [ext: omni.ocio-0.1.1] startup +[6.788s] [ext: omni.physx.demos-107.3.26] startup +[6.833s] [ext: omni.kit.property.physx-107.3.26] startup +[6.872s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.881s] [ext: omni.asset_validator.core-1.1.6] startup +[6.977s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.982s] [ext: omni.physx.vehicle-107.3.26] startup +[7.006s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.023s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.027s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.035s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.049s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.054s] [ext: omni.physx.camera-107.3.26] startup +[7.074s] [ext: omni.anim.curve.core-1.3.1] startup +[7.089s] [ext: omni.physx.cct-107.3.26] startup +[7.112s] [ext: omni.physx.graph-107.3.26] startup +[7.135s] [ext: omni.physx.supportui-107.3.26] startup +[7.172s] [ext: omni.physx.telemetry-107.3.26] startup +[7.179s] [ext: isaaclab-0.54.3] startup +[7.465s] [ext: isaaclab_contrib-0.0.2] startup +[7.467s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.470s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.475s] [ext: semantics.schema.property-2.0.1] startup +[7.479s] [ext: omni.physx.bundle-107.3.26] startup +[7.480s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.485s] [ext: isaaclab_assets-0.2.4] startup +[7.763s] [ext: isaaclab_tasks-0.11.14] startup +[7.930s] [ext: omni.kit.menu.common-2.0.1] startup +[7.932s] [ext: isaaclab_rl-0.5.0] startup +[7.934s] [ext: isaaclab_mimic-1.0.16] startup +[7.935s] [ext: isaaclab.python-2.3.2] startup +[7.938s] Simulation App Starting +2026-07-24T14:15:47Z [8,112ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:15:47Z [8,112ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:15:47Z [8,112ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:15:47Z [8,149ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.233s] app ready +[12.497s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-08.log +====================================================================================================== + +22:16:08 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 0 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:08Z [29,233ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:08Z [29,363ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:08Z [29,377ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:08Z [29,386ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.613689 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:08Z [29,398ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:08Z [29,404ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:09Z [29,791ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:09Z [29,791ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:09Z [29,794ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:09Z [29,795ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:09Z [29,795ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +2026-07-24T14:16:09Z [29,796ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5589511900f0:World0.usd@ <0x55895d9a9b00>) + +[INFO]: Time taken for simulation start : 0.647526 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:19Z [40,167ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:20Z [40,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:20Z [40,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:20Z [40,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:20Z [40,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:31Z [51,780ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=0 variant=10 rng_seed=10 piece_order=[1, 3, 2, 4, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[4] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_4 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=4 +env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1005 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-38_semantic-w00-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0000-a000,split=all,layout=0,variant=10,behavior=0/2026-07-24_22-15-38_semantic-w00-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0000-a000,split=all,layout=0,variant=10,behavior=0/2026-07-24_22-15-38_semantic-w00-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0000-a000,split=all,layout=0,variant=10,behavior=0/2026-07-24_22-15-38_semantic-w00-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0000-a000,split=all,layout=0,variant=10,behavior=0/_resume_2026-07-24_22-15-38_semantic-w00-s0000-a000.json (eval completed) +2026-07-24T14:20:05Z [266,094ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:05Z [266,094ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[266.433s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-41_semantic-w01-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-41_semantic-w01-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..d98ac5029f2bfe447e36d8d46e550f25a69c71b6 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-41_semantic-w01-s0000-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54001 +[INFO] device_id = 1 → CUDA_VISIBLE_DEVICES=1 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-41_semantic-w01-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221542.log +[0.047s] [ext: omni.kit.async_engine-0.0.3] startup +[0.171s] [ext: omni.metrics.core-0.0.3] startup +[0.171s] [ext: omni.client.lib-1.1.0] startup +[0.183s] [ext: omni.blobkey-1.1.2] startup +[0.183s] [ext: omni.stats-1.0.1] startup +[0.184s] [ext: omni.datastore-0.0.0] startup +[0.190s] [ext: omni.client-1.3.0] startup +[0.194s] [ext: omni.ujitso.default-1.0.0] startup +[0.195s] [ext: omni.hsscclient-1.1.2] startup +[0.216s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.218s] [ext: omni.assets.plugins-0.0.0] startup +[0.219s] [ext: omni.gpu_foundation-0.0.0] startup +[0.225s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:42Z [207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:42Z [207ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.226s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:42Z [252ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:42Z [257ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:42Z [257ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:42Z [257ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:42Z [294ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:44Z [1,930ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,930ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,934ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,934ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,936ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,936ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,938ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,938ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,939ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,939ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:44Z [1,943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 561759 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.632s] [ext: omni.materialx.libs-1.0.7] startup +[2.639s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.640s] [ext: omni.kit.test-2.0.1] startup +[2.679s] [ext: omni.kit.pipapi-0.0.0] startup +[2.680s] [ext: omni.usd.config-1.0.6] startup +[2.683s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.683s] [ext: omni.usd.libs-1.0.1] startup +[2.755s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.756s] [ext: omni.mdl-56.0.3] startup +[2.811s] [ext: omni.iray.libs-0.0.0] startup +[2.816s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.819s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.900s] [ext: omni.kit.telemetry-0.5.2] startup +[2.931s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:15:45Z [2,914ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:45Z [2,914ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.935s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:15:45Z [2,929ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:45Z [2,929ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:45Z [2,937ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:45Z [2,937ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.957s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.959s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:15:45Z [2,943ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:45Z [2,943ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:45Z [2,944ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:45Z [2,944ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:45Z [2,944ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:45Z [2,944ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.043s] [ext: omni.ui-2.27.1] startup +[3.051s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.052s] [ext: carb.audio-0.1.0] startup +[3.074s] [ext: omni.uiaudio-1.0.0] startup +[3.075s] [ext: omni.kit.uiapp-0.0.0] startup +[3.075s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.077s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.082s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.084s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.086s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.088s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.104s] [ext: omni.usd_resolver-1.0.0] startup +[3.107s] [ext: omni.usd.core-1.5.3] startup +[3.109s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.127s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.133s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.160s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.161s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.161s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.165s] [ext: omni.graph.exec-0.9.6] startup +[3.165s] [ext: omni.kit.actions.core-1.0.0] startup +[3.167s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.167s] [ext: omni.kit.exec.core-0.13.4] startup +[3.168s] [ext: omni.kit.commands-1.4.10] startup +[3.171s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.174s] [ext: omni.activity.core-1.0.3] startup +[3.175s] [ext: omni.resourcemonitor-107.0.1] startup +[3.176s] [ext: omni.timeline-1.0.14] startup +[3.178s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.179s] [ext: usdrt.scenegraph-7.6.1] startup +[3.209s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.210s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.215s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.219s] [ext: omni.usd-1.13.10] startup +[3.239s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.249s] [ext: omni.index.libs-380600.8087.0] startup +[3.249s] [ext: omni.volume-0.5.2] startup +[3.251s] [ext: omni.ujitso.client-0.0.0] startup +[3.251s] [ext: omni.index-1.0.1] startup +[3.251s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.252s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:15:45Z [3,249ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.280s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.281s] [ext: omni.kit.clipboard-1.0.5] startup +[3.282s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.284s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.288s] [ext: omni.kit.menu.core-1.1.2] startup +[3.288s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.291s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.292s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.292s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.293s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.294s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.298s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.298s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.304s] [ext: omni.ui.scene-1.11.5] startup +[3.308s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.308s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.320s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.325s] [ext: omni.kit.context_menu-1.8.6] startup +[3.327s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.330s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.333s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.335s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.335s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.336s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.339s] [ext: omni.kit.material.library-2.0.7] startup +[3.342s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.344s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.346s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.358s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.361s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.365s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.366s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.369s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.372s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.373s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.374s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.376s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.376s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.377s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.382s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.384s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.385s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.386s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.388s] [ext: omni.fabric.commands-1.1.6] startup +[3.389s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.390s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.391s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.392s] [ext: omni.debugdraw-0.1.4] startup +[3.395s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.403s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.404s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.404s] [ext: omni.kvdb-107.3.26] startup +[3.405s] [ext: omni.convexdecomposition-107.3.26] startup +[3.407s] [ext: omni.physx.foundation-107.3.26] startup +[3.408s] [ext: omni.localcache-107.3.26] startup +[3.409s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.410s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.410s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.411s] [ext: omni.usdphysics-107.3.26] startup +[3.412s] [ext: omni.kit.window.file-2.0.5] startup +[3.415s] [ext: omni.physx.cooking-107.3.26] startup +[3.417s] [ext: omni.physics-107.3.26] startup +[3.419s] [ext: omni.kit.window.property-1.12.1] startup +[3.421s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.430s] [ext: omni.physx-107.3.26] startup +[3.438s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.440s] [ext: omni.kit.property.usd-4.5.12] startup +[3.448s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.449s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:15:45Z [3,431ms] [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. +[3.450s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.451s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.461s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.464s] [ext: omni.inspect-1.0.2] startup +[3.465s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.474s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.475s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.480s] [ext: omni.graph.core-2.184.5] startup +[3.482s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.484s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.505s] [ext: omni.physx.commands-107.3.26] startup +[3.509s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.509s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:15:45Z [3,495ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.514s] [ext: omni.physx.ui-107.3.26] startup +[3.539s] [ext: isaacsim.core.version-2.0.6] startup +[3.539s] [ext: omni.physics.tensors-107.3.26] startup +[3.543s] [ext: omni.warp.core-1.8.2] startup +[3.698s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.700s] [ext: isaacsim.storage.native-1.5.1] startup +[3.701s] [ext: omni.physx.tensors-107.3.26] startup +[3.705s] [ext: isaacsim.core.utils-3.5.1] startup +[3.707s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.912s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.912s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.914s] [ext: omni.kit.window.stage-2.6.1] startup +[4.917s] [ext: omni.kit.menu.create-2.0.1] startup +[4.918s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.923s] [ext: omni.kit.scripting-107.3.2] startup +[4.926s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.929s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.929s] [ext: omni.graph.tools-1.79.2] startup +[4.947s] [ext: omni.ui_query-1.1.8] startup +[4.948s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.948s] [ext: omni.graph-1.141.2] startup +[4.982s] [ext: omni.graph.action_core-1.1.7] startup +[4.985s] [ext: omni.kit.ui_test-1.3.7] startup +[4.986s] [ext: omni.kit.browser.core-2.3.13] startup +[4.990s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.993s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.997s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.999s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.008s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.011s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.021s] [ext: omni.graph.action-1.130.0] startup +[5.024s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.027s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.034s] [ext: isaacsim.gui.components-1.2.1] startup +[5.041s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.051s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.202s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.207s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.213s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.285s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:15:47Z [5,271ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.291s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.293s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.296s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.302s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.304s] [ext: omni.graph.image.core-0.6.1] startup +[5.306s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.307s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.309s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.310s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.312s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.313s] [ext: omni.graph.nodes-1.170.10] startup +[5.321s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.324s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.329s] [ext: omni.syntheticdata-0.6.13] startup +[5.359s] [ext: omni.videoencoding-0.1.2] startup +[5.364s] [ext: omni.warp-1.8.2] startup +[5.369s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.384s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.388s] [ext: isaacsim.core.prims-0.6.1] startup +[5.424s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.430s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:15:48Z [5,641ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:15:48Z [5,641ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:15:48Z [5,641ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.663s] [ext: isaacsim.core.api-4.8.0] startup +[5.683s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.727s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.734s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.744s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.749s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.764s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.774s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.786s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.793s] [ext: omni.sensors.net-1.0.0] startup +[5.800s] [ext: isaacsim.app.about-2.0.11] startup +[5.807s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.808s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.811s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.818s] [ext: omni.kit.property.audio-1.0.16] startup +[5.821s] [ext: omni.kit.property.camera-1.0.10] startup +[5.827s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.839s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.847s] [ext: omni.kit.property.light-1.0.12] startup +[5.881s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.889s] [ext: omni.kit.selection-0.1.6] startup +[5.900s] [ext: omni.kit.property.material-1.11.9] startup +[5.928s] [ext: omni.kit.property.transform-1.5.13] startup +[5.935s] [ext: omni.kit.property.render-1.2.1] startup +[5.941s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.945s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.973s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.991s] [ext: isaacsim.gui.property-1.1.3] startup +[6.000s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.008s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.028s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.089s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.134s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.195s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.285s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.306s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.313s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.333s] [ext: omni.kit.window.console-1.1.4] startup +[6.361s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.393s] [ext: omni.ocio-0.1.1] startup +[6.400s] [ext: omni.physx.demos-107.3.26] startup +[6.668s] [ext: omni.kit.property.physx-107.3.26] startup +[6.767s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.849s] [ext: omni.asset_validator.core-1.1.6] startup +[6.917s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.923s] [ext: omni.physx.vehicle-107.3.26] startup +[6.963s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.989s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.996s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.007s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.018s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.026s] [ext: omni.physx.camera-107.3.26] startup +[7.048s] [ext: omni.anim.curve.core-1.3.1] startup +[7.069s] [ext: omni.physx.cct-107.3.26] startup +[7.086s] [ext: omni.physx.graph-107.3.26] startup +[7.108s] [ext: omni.physx.supportui-107.3.26] startup +[7.126s] [ext: omni.physx.telemetry-107.3.26] startup +[7.129s] [ext: isaaclab-0.54.3] startup +[7.372s] [ext: isaaclab_contrib-0.0.2] startup +[7.374s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.377s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.382s] [ext: semantics.schema.property-2.0.1] startup +[7.386s] [ext: omni.physx.bundle-107.3.26] startup +[7.390s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.394s] [ext: isaaclab_assets-0.2.4] startup +[7.690s] [ext: isaaclab_tasks-0.11.14] startup +[7.858s] [ext: omni.kit.menu.common-2.0.1] startup +[7.859s] [ext: isaaclab_rl-0.5.0] startup +[7.861s] [ext: isaaclab_mimic-1.0.16] startup +[7.861s] [ext: isaaclab.python-2.3.2] startup +[7.865s] Simulation App Starting +2026-07-24T14:15:50Z [7,959ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:15:50Z [7,964ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:15:50Z [7,964ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:15:50Z [7,964ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:15:50Z [8,024ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.110s] app ready +[12.195s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54001 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54001 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-10.log +====================================================================================================== + +22:16:10 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 0 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:10Z [28,335ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:10Z [28,469ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:10Z [28,483ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:10Z [28,492ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.623594 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:10Z [28,504ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:10Z [28,510ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:11Z [28,887ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:11Z [28,887ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:11Z [28,890ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:11Z [28,890ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:11Z [28,890ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +2026-07-24T14:16:11Z [28,891ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f424cfcf50:World0.usd@ <0x55f43157bc80>) + +[INFO]: Time taken for simulation start : 0.632394 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:21Z [38,655ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:21Z [39,124ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:21Z [39,124ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:21Z [39,124ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:21Z [39,124ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:34Z [52,119ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=0 variant=11 rng_seed=100011 piece_order=[4, 2, 3, 1, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=8 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1018 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-41_semantic-w01-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0000-a000,split=all,layout=0,variant=11,behavior=1/2026-07-24_22-15-41_semantic-w01-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0000-a000,split=all,layout=0,variant=11,behavior=1/2026-07-24_22-15-41_semantic-w01-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0000-a000,split=all,layout=0,variant=11,behavior=1/2026-07-24_22-15-41_semantic-w01-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0000-a000,split=all,layout=0,variant=11,behavior=1/_resume_2026-07-24_22-15-41_semantic-w01-s0000-a000.json (eval completed) +2026-07-24T14:20:06Z [263,608ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:06Z [263,608ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[263.935s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-44_semantic-w02-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-44_semantic-w02-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..5fc2683cdeeb55d0e182c887a8cc6963c5c2448e --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-44_semantic-w02-s0000-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-44_semantic-w02-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221546.log +[0.048s] [ext: omni.kit.async_engine-0.0.3] startup +[0.162s] [ext: omni.metrics.core-0.0.3] startup +[0.162s] [ext: omni.client.lib-1.1.0] startup +[0.174s] [ext: omni.blobkey-1.1.2] startup +[0.174s] [ext: omni.stats-1.0.1] startup +[0.175s] [ext: omni.datastore-0.0.0] startup +[0.180s] [ext: omni.client-1.3.0] startup +[0.184s] [ext: omni.ujitso.default-1.0.0] startup +[0.185s] [ext: omni.hsscclient-1.1.2] startup +[0.206s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.208s] [ext: omni.assets.plugins-0.0.0] startup +[0.209s] [ext: omni.gpu_foundation-0.0.0] startup +[0.215s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:46Z [197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:46Z [197ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.216s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:46Z [272ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:46Z [276ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:46Z [276ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:46Z [276ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:46Z [333ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:48Z [1,812ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,812ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,813ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,813ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,816ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,816ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,817ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,817ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,818ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,818ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:48Z [1,819ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 560027 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.608s] [ext: omni.materialx.libs-1.0.7] startup +[2.615s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.616s] [ext: omni.kit.test-2.0.1] startup +[2.654s] [ext: omni.kit.pipapi-0.0.0] startup +[2.654s] [ext: omni.usd.config-1.0.6] startup +[2.657s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.657s] [ext: omni.usd.libs-1.0.1] startup +[2.733s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.733s] [ext: omni.mdl-56.0.3] startup +[2.788s] [ext: omni.iray.libs-0.0.0] startup +[2.793s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.795s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.880s] [ext: omni.kit.telemetry-0.5.2] startup +[2.922s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:15:49Z [2,905ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [2,905ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.926s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:15:49Z [2,924ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [2,924ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:49Z [2,933ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [2,933ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.953s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.956s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:15:49Z [2,940ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [2,940ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:49Z [2,941ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [2,941ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:49Z [2,942ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [2,942ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.082s] [ext: omni.ui-2.27.1] startup +[3.093s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.094s] [ext: carb.audio-0.1.0] startup +[3.117s] [ext: omni.uiaudio-1.0.0] startup +[3.118s] [ext: omni.kit.uiapp-0.0.0] startup +[3.118s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.121s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.127s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.129s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.132s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.135s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.156s] [ext: omni.usd_resolver-1.0.0] startup +[3.160s] [ext: omni.usd.core-1.5.3] startup +[3.162s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.180s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.187s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.214s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.215s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.216s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.219s] [ext: omni.graph.exec-0.9.6] startup +[3.219s] [ext: omni.kit.actions.core-1.0.0] startup +[3.221s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.221s] [ext: omni.kit.exec.core-0.13.4] startup +[3.222s] [ext: omni.kit.commands-1.4.10] startup +[3.225s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.228s] [ext: omni.activity.core-1.0.3] startup +[3.229s] [ext: omni.resourcemonitor-107.0.1] startup +[3.231s] [ext: omni.timeline-1.0.14] startup +[3.232s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.233s] [ext: usdrt.scenegraph-7.6.1] startup +[3.263s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.264s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.270s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.273s] [ext: omni.usd-1.13.10] startup +[3.293s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.304s] [ext: omni.index.libs-380600.8087.0] startup +[3.304s] [ext: omni.volume-0.5.2] startup +[3.306s] [ext: omni.ujitso.client-0.0.0] startup +[3.306s] [ext: omni.index-1.0.1] startup +[3.307s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.307s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:15:49Z [3,305ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.336s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.338s] [ext: omni.kit.clipboard-1.0.5] startup +[3.338s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.341s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.344s] [ext: omni.kit.menu.core-1.1.2] startup +[3.345s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.348s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.351s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.352s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.352s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.353s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.357s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.357s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.364s] [ext: omni.ui.scene-1.11.5] startup +[3.367s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.368s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.379s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.385s] [ext: omni.kit.context_menu-1.8.6] startup +[3.386s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.390s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.393s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.394s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.395s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.395s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.398s] [ext: omni.kit.material.library-2.0.7] startup +[3.402s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.404s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.406s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.418s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.422s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.426s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.426s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.429s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.433s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.433s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.435s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.436s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.437s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.438s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.443s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.445s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.446s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.447s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.448s] [ext: omni.fabric.commands-1.1.6] startup +[3.450s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.451s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.452s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.453s] [ext: omni.debugdraw-0.1.4] startup +[3.456s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.464s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.465s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.465s] [ext: omni.kvdb-107.3.26] startup +[3.466s] [ext: omni.convexdecomposition-107.3.26] startup +[3.468s] [ext: omni.physx.foundation-107.3.26] startup +[3.470s] [ext: omni.localcache-107.3.26] startup +[3.471s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.471s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.472s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.472s] [ext: omni.usdphysics-107.3.26] startup +[3.474s] [ext: omni.kit.window.file-2.0.5] startup +[3.476s] [ext: omni.physx.cooking-107.3.26] startup +[3.479s] [ext: omni.physics-107.3.26] startup +[3.481s] [ext: omni.kit.window.property-1.12.1] startup +[3.484s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.493s] [ext: omni.physx-107.3.26] startup +[3.501s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.503s] [ext: omni.kit.property.usd-4.5.12] startup +[3.511s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.512s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:15:49Z [3,494ms] [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. +[3.513s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.514s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.525s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.528s] [ext: omni.inspect-1.0.2] startup +[3.529s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.539s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.540s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.545s] [ext: omni.graph.core-2.184.5] startup +[3.547s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.548s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.570s] [ext: omni.physx.commands-107.3.26] startup +[3.574s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.574s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:15:50Z [3,560ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.579s] [ext: omni.physx.ui-107.3.26] startup +[3.605s] [ext: isaacsim.core.version-2.0.6] startup +[3.605s] [ext: omni.physics.tensors-107.3.26] startup +[3.609s] [ext: omni.warp.core-1.8.2] startup +[3.775s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.777s] [ext: isaacsim.storage.native-1.5.1] startup +[3.779s] [ext: omni.physx.tensors-107.3.26] startup +[3.784s] [ext: isaacsim.core.utils-3.5.1] startup +[3.787s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.069s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.070s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.071s] [ext: omni.kit.window.stage-2.6.1] startup +[5.075s] [ext: omni.kit.menu.create-2.0.1] startup +[5.076s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.081s] [ext: omni.kit.scripting-107.3.2] startup +[5.085s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.087s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.088s] [ext: omni.graph.tools-1.79.2] startup +[5.105s] [ext: omni.ui_query-1.1.8] startup +[5.106s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.106s] [ext: omni.graph-1.141.2] startup +[5.140s] [ext: omni.graph.action_core-1.1.7] startup +[5.142s] [ext: omni.kit.ui_test-1.3.7] startup +[5.145s] [ext: omni.kit.browser.core-2.3.13] startup +[5.148s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.152s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.156s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.159s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.170s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.173s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.184s] [ext: omni.graph.action-1.130.0] startup +[5.188s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.191s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.199s] [ext: isaacsim.gui.components-1.2.1] startup +[5.204s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.213s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.324s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.328s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.338s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.416s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:15:51Z [5,401ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.421s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.423s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.426s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.433s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.435s] [ext: omni.graph.image.core-0.6.1] startup +[5.437s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.438s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.439s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.442s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.444s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.445s] [ext: omni.graph.nodes-1.170.10] startup +[5.454s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.459s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.462s] [ext: omni.syntheticdata-0.6.13] startup +[5.489s] [ext: omni.videoencoding-0.1.2] startup +[5.495s] [ext: omni.warp-1.8.2] startup +[5.504s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.527s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.531s] [ext: isaacsim.core.prims-0.6.1] startup +[5.580s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.596s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:15:52Z [5,800ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:15:52Z [5,800ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:15:52Z [5,801ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.825s] [ext: isaacsim.core.api-4.8.0] startup +[5.851s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.913s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.925s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.936s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.945s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.975s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.993s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.015s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.027s] [ext: omni.sensors.net-1.0.0] startup +[6.038s] [ext: isaacsim.app.about-2.0.11] startup +[6.048s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.049s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.060s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.074s] [ext: omni.kit.property.audio-1.0.16] startup +[6.084s] [ext: omni.kit.property.camera-1.0.10] startup +[6.092s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.101s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.112s] [ext: omni.kit.property.light-1.0.12] startup +[6.147s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.150s] [ext: omni.kit.selection-0.1.6] startup +[6.159s] [ext: omni.kit.property.material-1.11.9] startup +[6.231s] [ext: omni.kit.property.transform-1.5.13] startup +[6.252s] [ext: omni.kit.property.render-1.2.1] startup +[6.264s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.272s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.337s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.404s] [ext: isaacsim.gui.property-1.1.3] startup +[6.463s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.492s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.604s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.690s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.740s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.757s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.785s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.804s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.810s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.837s] [ext: omni.kit.window.console-1.1.4] startup +[6.851s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.871s] [ext: omni.ocio-0.1.1] startup +[6.875s] [ext: omni.physx.demos-107.3.26] startup +[6.900s] [ext: omni.kit.property.physx-107.3.26] startup +[6.934s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.943s] [ext: omni.asset_validator.core-1.1.6] startup +[7.025s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.037s] [ext: omni.physx.vehicle-107.3.26] startup +[7.070s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.091s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.096s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.104s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.118s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.125s] [ext: omni.physx.camera-107.3.26] startup +[7.145s] [ext: omni.anim.curve.core-1.3.1] startup +[7.163s] [ext: omni.physx.cct-107.3.26] startup +[7.182s] [ext: omni.physx.graph-107.3.26] startup +[7.227s] [ext: omni.physx.supportui-107.3.26] startup +[7.267s] [ext: omni.physx.telemetry-107.3.26] startup +[7.280s] [ext: isaaclab-0.54.3] startup +[7.588s] [ext: isaaclab_contrib-0.0.2] startup +[7.590s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.593s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.598s] [ext: semantics.schema.property-2.0.1] startup +[7.601s] [ext: omni.physx.bundle-107.3.26] startup +[7.601s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.608s] [ext: isaaclab_assets-0.2.4] startup +[7.892s] [ext: isaaclab_tasks-0.11.14] startup +[8.047s] [ext: omni.kit.menu.common-2.0.1] startup +[8.049s] [ext: isaaclab_rl-0.5.0] startup +[8.050s] [ext: isaaclab_mimic-1.0.16] startup +[8.054s] [ext: isaaclab.python-2.3.2] startup +[8.058s] Simulation App Starting +2026-07-24T14:15:54Z [8,108ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:15:54Z [8,112ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:15:54Z [8,112ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:15:54Z [8,112ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:15:54Z [8,136ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.186s] app ready +[11.876s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-13.log +====================================================================================================== + +22:16:14 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 0 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:14Z [28,073ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:14Z [28,204ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:14Z [28,217ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:14Z [28,226ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.623919 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:14Z [28,238ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:14Z [28,244ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:15Z [28,618ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:15Z [28,618ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:15Z [28,620ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:15Z [28,621ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:15Z [28,621ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +2026-07-24T14:16:15Z [28,621ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56414a6ee7f0:World0.usd@ <0x564156f186c0>) + +[INFO]: Time taken for simulation start : 0.627459 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:24Z [37,723ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:24Z [38,109ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:24Z [38,109ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:24Z [38,109ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:24Z [38,109ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:36Z [49,768ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=0 variant=12 rng_seed=200012 piece_order=[0, 3, 2, 4, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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[curobo-ttt] opponent=1/4 complete placed=2 empty=[1, 2, 3, 4, 6, 7, 8] +[curobo-ttt] semantic move=2/5 piece=player_piece3 grasp=right_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=8 +env0 step: 216 / 1100 env0 step: 217 / 1100 env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 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complete placed=4 empty=[1, 2, 3, 4, 7] +[curobo-ttt] semantic move=3/5 piece=player_piece2 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 430 / 1100 env0 step: 431 / 1100 env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 env0 step: 461 / 1100 env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 env0 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env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[7] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=7 +env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=985 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-44_semantic-w02-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0000-a000,split=all,layout=0,variant=12,behavior=2/2026-07-24_22-15-44_semantic-w02-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0000-a000,split=all,layout=0,variant=12,behavior=2/2026-07-24_22-15-44_semantic-w02-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0000-a000,split=all,layout=0,variant=12,behavior=2/2026-07-24_22-15-44_semantic-w02-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0000-a000,split=all,layout=0,variant=12,behavior=2/_resume_2026-07-24_22-15-44_semantic-w02-s0000-a000.json (eval completed) +2026-07-24T14:20:03Z [257,458ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:03Z [257,458ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[257.794s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-47_semantic-w03-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-47_semantic-w03-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..3e045e6c635ab07163bb8e9a34cc31bf251baf09 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-47_semantic-w03-s0000-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-47_semantic-w03-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221549.log +[0.048s] [ext: omni.kit.async_engine-0.0.3] startup +[0.166s] [ext: omni.metrics.core-0.0.3] startup +[0.166s] [ext: omni.client.lib-1.1.0] startup +[0.178s] [ext: omni.blobkey-1.1.2] startup +[0.178s] [ext: omni.stats-1.0.1] startup +[0.179s] [ext: omni.datastore-0.0.0] startup +[0.184s] [ext: omni.client-1.3.0] startup +[0.188s] [ext: omni.ujitso.default-1.0.0] startup +[0.189s] [ext: omni.hsscclient-1.1.2] startup +[0.210s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.211s] [ext: omni.assets.plugins-0.0.0] startup +[0.212s] [ext: omni.gpu_foundation-0.0.0] startup +[0.218s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:49Z [200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:49Z [200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.219s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:49Z [267ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:49Z [270ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:49Z [270ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:49Z [270ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:49Z [323ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:50Z [1,312ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,312ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,312ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,312ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,313ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,313ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,315ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,315ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,316ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,316ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:50Z [1,317ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 557307 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.109s] [ext: omni.materialx.libs-1.0.7] startup +[2.116s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.117s] [ext: omni.kit.test-2.0.1] startup +[2.154s] [ext: omni.kit.pipapi-0.0.0] startup +[2.155s] [ext: omni.usd.config-1.0.6] startup +[2.158s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.158s] [ext: omni.usd.libs-1.0.1] startup +[2.230s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.230s] [ext: omni.mdl-56.0.3] startup +[2.284s] [ext: omni.iray.libs-0.0.0] startup +[2.289s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.291s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.372s] [ext: omni.kit.telemetry-0.5.2] startup +[2.401s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:15:51Z [2,383ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:51Z [2,384ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.404s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:15:51Z [2,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:51Z [2,401ms] [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) +2026-07-24T14:15:51Z [2,414ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:51Z [2,414ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.434s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.436s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:15:51Z [2,419ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:51Z [2,419ms] [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) +2026-07-24T14:15:51Z [2,420ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:51Z [2,420ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:51Z [2,421ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:51Z [2,421ms] [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) +[2.537s] [ext: omni.ui-2.27.1] startup +[2.545s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.546s] [ext: carb.audio-0.1.0] startup +[2.573s] [ext: omni.uiaudio-1.0.0] startup +[2.573s] [ext: omni.kit.uiapp-0.0.0] startup +[2.573s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.576s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.582s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.584s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.587s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.590s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.610s] [ext: omni.usd_resolver-1.0.0] startup +[2.613s] [ext: omni.usd.core-1.5.3] startup +[2.615s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.633s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.639s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.667s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.668s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.668s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.672s] [ext: omni.graph.exec-0.9.6] startup +[2.672s] [ext: omni.kit.actions.core-1.0.0] startup +[2.674s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.674s] [ext: omni.kit.exec.core-0.13.4] startup +[2.676s] [ext: omni.kit.commands-1.4.10] startup +[2.678s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.681s] [ext: omni.activity.core-1.0.3] startup +[2.682s] [ext: omni.resourcemonitor-107.0.1] startup +[2.684s] [ext: omni.timeline-1.0.14] startup +[2.685s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.687s] [ext: usdrt.scenegraph-7.6.1] startup +[2.717s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.718s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.724s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.727s] [ext: omni.usd-1.13.10] startup +[2.748s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.758s] [ext: omni.index.libs-380600.8087.0] startup +[2.758s] [ext: omni.volume-0.5.2] startup +[2.760s] [ext: omni.ujitso.client-0.0.0] startup +[2.760s] [ext: omni.index-1.0.1] startup +[2.760s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.761s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:15:52Z [2,758ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.789s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.790s] [ext: omni.kit.clipboard-1.0.5] startup +[2.791s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.793s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.826s] [ext: omni.kit.menu.core-1.1.2] startup +[2.827s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.829s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.830s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.831s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.832s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.832s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.836s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.837s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.843s] [ext: omni.ui.scene-1.11.5] startup +[2.847s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.847s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.859s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.864s] [ext: omni.kit.context_menu-1.8.6] startup +[2.866s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.869s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.872s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.873s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.874s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.875s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.877s] [ext: omni.kit.material.library-2.0.7] startup +[2.881s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.883s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.885s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.897s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.900s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.904s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.905s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.908s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.911s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.912s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.913s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.915s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.915s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.916s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.921s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.924s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.924s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.926s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.927s] [ext: omni.fabric.commands-1.1.6] startup +[2.929s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.930s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.931s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.932s] [ext: omni.debugdraw-0.1.4] startup +[2.935s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.944s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.945s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.945s] [ext: omni.kvdb-107.3.26] startup +[2.946s] [ext: omni.convexdecomposition-107.3.26] startup +[2.948s] [ext: omni.physx.foundation-107.3.26] startup +[2.950s] [ext: omni.localcache-107.3.26] startup +[2.951s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.951s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.952s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.952s] [ext: omni.usdphysics-107.3.26] startup +[2.954s] [ext: omni.kit.window.file-2.0.5] startup +[2.956s] [ext: omni.physx.cooking-107.3.26] startup +[2.959s] [ext: omni.physics-107.3.26] startup +[2.961s] [ext: omni.kit.window.property-1.12.1] startup +[2.964s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.973s] [ext: omni.physx-107.3.26] startup +[2.981s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.983s] [ext: omni.kit.property.usd-4.5.12] startup +[2.991s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.992s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:15:52Z [2,974ms] [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. +[2.994s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.994s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.005s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.008s] [ext: omni.inspect-1.0.2] startup +[3.009s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.018s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.019s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.024s] [ext: omni.graph.core-2.184.5] startup +[3.026s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.028s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.050s] [ext: omni.physx.commands-107.3.26] startup +[3.054s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.055s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:15:52Z [3,040ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.060s] [ext: omni.physx.ui-107.3.26] startup +[3.087s] [ext: isaacsim.core.version-2.0.6] startup +[3.087s] [ext: omni.physics.tensors-107.3.26] startup +[3.092s] [ext: omni.warp.core-1.8.2] startup +[3.249s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.251s] [ext: isaacsim.storage.native-1.5.1] startup +[3.252s] [ext: omni.physx.tensors-107.3.26] startup +[3.256s] [ext: isaacsim.core.utils-3.5.1] startup +[3.258s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.466s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.466s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.468s] [ext: omni.kit.window.stage-2.6.1] startup +[4.472s] [ext: omni.kit.menu.create-2.0.1] startup +[4.473s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.478s] [ext: omni.kit.scripting-107.3.2] startup +[4.482s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.484s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.485s] [ext: omni.graph.tools-1.79.2] startup +[4.503s] [ext: omni.ui_query-1.1.8] startup +[4.504s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.504s] [ext: omni.graph-1.141.2] startup +[4.539s] [ext: omni.graph.action_core-1.1.7] startup +[4.540s] [ext: omni.kit.ui_test-1.3.7] startup +[4.543s] [ext: omni.kit.browser.core-2.3.13] startup +[4.547s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.551s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.554s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.557s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.569s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.572s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.584s] [ext: omni.graph.action-1.130.0] startup +[4.586s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.592s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.600s] [ext: isaacsim.gui.components-1.2.1] startup +[4.609s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.617s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.704s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.709s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.719s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.805s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:15:54Z [4,789ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.809s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.810s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.813s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.820s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.822s] [ext: omni.graph.image.core-0.6.1] startup +[4.823s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.824s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.825s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.827s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.829s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.830s] [ext: omni.graph.nodes-1.170.10] startup +[4.838s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.841s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.846s] [ext: omni.syntheticdata-0.6.13] startup +[4.871s] [ext: omni.videoencoding-0.1.2] startup +[4.874s] [ext: omni.warp-1.8.2] startup +[4.881s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.899s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.902s] [ext: isaacsim.core.prims-0.6.1] startup +[4.948s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.958s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:15:54Z [5,144ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:15:54Z [5,144ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:15:54Z [5,145ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.169s] [ext: isaacsim.core.api-4.8.0] startup +[5.187s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.238s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.249s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.261s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.266s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.283s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.309s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.327s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.337s] [ext: omni.sensors.net-1.0.0] startup +[5.342s] [ext: isaacsim.app.about-2.0.11] startup +[5.348s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.351s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.357s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.366s] [ext: omni.kit.property.audio-1.0.16] startup +[5.383s] [ext: omni.kit.property.camera-1.0.10] startup +[5.389s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.399s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.418s] [ext: omni.kit.property.light-1.0.12] startup +[5.471s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.476s] [ext: omni.kit.selection-0.1.6] startup +[5.499s] [ext: omni.kit.property.material-1.11.9] startup +[5.775s] [ext: omni.kit.property.transform-1.5.13] startup +[5.801s] [ext: omni.kit.property.render-1.2.1] startup +[5.817s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.827s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.891s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.906s] [ext: isaacsim.gui.property-1.1.3] startup +[5.911s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.915s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.932s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.962s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.982s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.000s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.026s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.059s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.062s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.076s] [ext: omni.kit.window.console-1.1.4] startup +[6.084s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.095s] [ext: omni.ocio-0.1.1] startup +[6.102s] [ext: omni.physx.demos-107.3.26] startup +[6.124s] [ext: omni.kit.property.physx-107.3.26] startup +[6.145s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.149s] [ext: omni.asset_validator.core-1.1.6] startup +[6.214s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.221s] [ext: omni.physx.vehicle-107.3.26] startup +[6.241s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.251s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.256s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.264s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.278s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.284s] [ext: omni.physx.camera-107.3.26] startup +[6.295s] [ext: omni.anim.curve.core-1.3.1] startup +[6.311s] [ext: omni.physx.cct-107.3.26] startup +[6.327s] [ext: omni.physx.graph-107.3.26] startup +[6.349s] [ext: omni.physx.supportui-107.3.26] startup +[6.374s] [ext: omni.physx.telemetry-107.3.26] startup +[6.382s] [ext: isaaclab-0.54.3] startup +[6.645s] [ext: isaaclab_contrib-0.0.2] startup +[6.648s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.651s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.656s] [ext: semantics.schema.property-2.0.1] startup +[6.661s] [ext: omni.physx.bundle-107.3.26] startup +[6.661s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.669s] [ext: isaaclab_assets-0.2.4] startup +[6.948s] [ext: isaaclab_tasks-0.11.14] startup +[7.099s] [ext: omni.kit.menu.common-2.0.1] startup +[7.101s] [ext: isaaclab_rl-0.5.0] startup +[7.102s] [ext: isaaclab_mimic-1.0.16] startup +[7.103s] [ext: isaaclab.python-2.3.2] startup +[7.106s] Simulation App Starting +2026-07-24T14:15:56Z [7,173ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:15:56Z [7,178ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:15:56Z [7,178ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:15:56Z [7,178ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:15:56Z [7,208ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.258s] app ready +[11.130s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-16.log +====================================================================================================== + +22:16:16 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 1 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:16Z [27,382ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:16Z [27,513ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:16Z [27,526ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:17Z [27,535ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.589811 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:17Z [27,550ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,558ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,950ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,950ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,954ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,954ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,955ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +2026-07-24T14:16:17Z [27,955ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b1b07b58c0:World0.usd@ <0x55b1bd006fd0>) + +[INFO]: Time taken for simulation start : 0.659866 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:28Z [38,564ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:28Z [38,896ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:28Z [38,896ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:28Z [38,896ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:28Z [38,896ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:40Z [51,477ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=1 variant=13 rng_seed=1013 piece_order=[1, 3, 4, 2, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=6 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 688 / 1100 env0 step: 689 / 1100 env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 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env0 step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[3] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=3 +env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=996 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-47_semantic-w03-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0000-a000,split=all,layout=1,variant=13,behavior=3/2026-07-24_22-15-47_semantic-w03-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 201 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0000-a000,split=all,layout=1,variant=13,behavior=3/2026-07-24_22-15-47_semantic-w03-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 201 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0000-a000,split=all,layout=1,variant=13,behavior=3/2026-07-24_22-15-47_semantic-w03-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 201 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0000-a000,split=all,layout=1,variant=13,behavior=3/_resume_2026-07-24_22-15-47_semantic-w03-s0000-a000.json (eval completed) +2026-07-24T14:20:14Z [265,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:14Z [265,221ms] [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) +[265.599s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-50_semantic-w04-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-50_semantic-w04-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..e342d359188b1f387f9b741e1510fb1c25e9f72d --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-50_semantic-w04-s0000-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54004 +[INFO] device_id = 4 → CUDA_VISIBLE_DEVICES=4 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-50_semantic-w04-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221552.log +[0.046s] [ext: omni.kit.async_engine-0.0.3] startup +[0.165s] [ext: omni.metrics.core-0.0.3] startup +[0.165s] [ext: omni.client.lib-1.1.0] startup +[0.177s] [ext: omni.blobkey-1.1.2] startup +[0.177s] [ext: omni.stats-1.0.1] startup +[0.177s] [ext: omni.datastore-0.0.0] startup +[0.182s] [ext: omni.client-1.3.0] startup +[0.187s] [ext: omni.ujitso.default-1.0.0] startup +[0.188s] [ext: omni.hsscclient-1.1.2] startup +[0.209s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.211s] [ext: omni.assets.plugins-0.0.0] startup +[0.212s] [ext: omni.gpu_foundation-0.0.0] startup +[0.218s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:52Z [200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:52Z [200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.218s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:52Z [276ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:52Z [277ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:52Z [277ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:52Z [277ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:52Z [328ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:53Z [1,080ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,080ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,081ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,081ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,082ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,082ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,082ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,082ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,084ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,084ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:53Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 554364 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.874s] [ext: omni.materialx.libs-1.0.7] startup +[1.880s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.881s] [ext: omni.kit.test-2.0.1] startup +[1.919s] [ext: omni.kit.pipapi-0.0.0] startup +[1.919s] [ext: omni.usd.config-1.0.6] startup +[1.922s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.922s] [ext: omni.usd.libs-1.0.1] startup +[1.994s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.995s] [ext: omni.mdl-56.0.3] startup +[2.049s] [ext: omni.iray.libs-0.0.0] startup +[2.054s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.056s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.138s] [ext: omni.kit.telemetry-0.5.2] startup +[2.190s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:15:54Z [2,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:54Z [2,173ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.193s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:15:54Z [2,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:54Z [2,189ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:54Z [2,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:54Z [2,196ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.216s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.218s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:15:54Z [2,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:54Z [2,202ms] [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) +2026-07-24T14:15:54Z [2,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:54Z [2,203ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:54Z [2,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:54Z [2,204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.310s] [ext: omni.ui-2.27.1] startup +[2.319s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.320s] [ext: carb.audio-0.1.0] startup +[2.341s] [ext: omni.uiaudio-1.0.0] startup +[2.341s] [ext: omni.kit.uiapp-0.0.0] startup +[2.341s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.344s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.349s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.351s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.353s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.355s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.371s] [ext: omni.usd_resolver-1.0.0] startup +[2.374s] [ext: omni.usd.core-1.5.3] startup +[2.377s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.395s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.402s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.430s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.430s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.431s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.435s] [ext: omni.graph.exec-0.9.6] startup +[2.435s] [ext: omni.kit.actions.core-1.0.0] startup +[2.437s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.438s] [ext: omni.kit.exec.core-0.13.4] startup +[2.439s] [ext: omni.kit.commands-1.4.10] startup +[2.442s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.445s] [ext: omni.activity.core-1.0.3] startup +[2.446s] [ext: omni.resourcemonitor-107.0.1] startup +[2.448s] [ext: omni.timeline-1.0.14] startup +[2.449s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.451s] [ext: usdrt.scenegraph-7.6.1] startup +[2.482s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.483s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.488s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.492s] [ext: omni.usd-1.13.10] startup +[2.512s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.522s] [ext: omni.index.libs-380600.8087.0] startup +[2.522s] [ext: omni.volume-0.5.2] startup +[2.524s] [ext: omni.ujitso.client-0.0.0] startup +[2.524s] [ext: omni.index-1.0.1] startup +[2.525s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.526s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:15:55Z [2,523ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.553s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.555s] [ext: omni.kit.clipboard-1.0.5] startup +[2.555s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.557s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.561s] [ext: omni.kit.menu.core-1.1.2] startup +[2.562s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.564s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.566s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.566s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.567s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.568s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.573s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.573s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.581s] [ext: omni.ui.scene-1.11.5] startup +[2.584s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.585s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.597s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.603s] [ext: omni.kit.context_menu-1.8.6] startup +[2.605s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.608s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.611s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.613s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.613s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.614s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.617s] [ext: omni.kit.material.library-2.0.7] startup +[2.621s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.623s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.624s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.637s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.641s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.645s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.645s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.649s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.652s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.653s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.654s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.656s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.656s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.657s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.662s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.665s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.665s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.667s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.668s] [ext: omni.fabric.commands-1.1.6] startup +[2.670s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.670s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.671s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.672s] [ext: omni.debugdraw-0.1.4] startup +[2.675s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.684s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.684s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.684s] [ext: omni.kvdb-107.3.26] startup +[2.686s] [ext: omni.convexdecomposition-107.3.26] startup +[2.688s] [ext: omni.physx.foundation-107.3.26] startup +[2.689s] [ext: omni.localcache-107.3.26] startup +[2.690s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.691s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.691s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.692s] [ext: omni.usdphysics-107.3.26] startup +[2.694s] [ext: omni.kit.window.file-2.0.5] startup +[2.696s] [ext: omni.physx.cooking-107.3.26] startup +[2.698s] [ext: omni.physics-107.3.26] startup +[2.701s] [ext: omni.kit.window.property-1.12.1] startup +[2.703s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.712s] [ext: omni.physx-107.3.26] startup +[2.721s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.722s] [ext: omni.kit.property.usd-4.5.12] startup +[2.731s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.732s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:15:55Z [2,715ms] [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. +[2.733s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.734s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.744s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.747s] [ext: omni.inspect-1.0.2] startup +[2.749s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.761s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.762s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.767s] [ext: omni.graph.core-2.184.5] startup +[2.769s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.770s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.792s] [ext: omni.physx.commands-107.3.26] startup +[2.796s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.797s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:15:55Z [2,783ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.802s] [ext: omni.physx.ui-107.3.26] startup +[2.827s] [ext: isaacsim.core.version-2.0.6] startup +[2.828s] [ext: omni.physics.tensors-107.3.26] startup +[2.831s] [ext: omni.warp.core-1.8.2] startup +[2.990s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.992s] [ext: isaacsim.storage.native-1.5.1] startup +[2.993s] [ext: omni.physx.tensors-107.3.26] startup +[2.997s] [ext: isaacsim.core.utils-3.5.1] startup +[3.000s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.365s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.366s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.367s] [ext: omni.kit.window.stage-2.6.1] startup +[4.373s] [ext: omni.kit.menu.create-2.0.1] startup +[4.374s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.379s] [ext: omni.kit.scripting-107.3.2] startup +[4.383s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.386s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.387s] [ext: omni.graph.tools-1.79.2] startup +[4.405s] [ext: omni.ui_query-1.1.8] startup +[4.405s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.406s] [ext: omni.graph-1.141.2] startup +[4.443s] [ext: omni.graph.action_core-1.1.7] startup +[4.446s] [ext: omni.kit.ui_test-1.3.7] startup +[4.447s] [ext: omni.kit.browser.core-2.3.13] startup +[4.450s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.454s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.457s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.460s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.471s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.474s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.486s] [ext: omni.graph.action-1.130.0] startup +[4.489s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.492s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.499s] [ext: isaacsim.gui.components-1.2.1] startup +[4.506s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.512s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.635s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.639s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.648s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.725s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:15:57Z [4,715ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.735s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.737s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.743s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.749s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.753s] [ext: omni.graph.image.core-0.6.1] startup +[4.755s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.756s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.759s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.762s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.765s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.767s] [ext: omni.graph.nodes-1.170.10] startup +[4.778s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.782s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.788s] [ext: omni.syntheticdata-0.6.13] startup +[4.832s] [ext: omni.videoencoding-0.1.2] startup +[4.836s] [ext: omni.warp-1.8.2] startup +[4.846s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.877s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.882s] [ext: isaacsim.core.prims-0.6.1] startup +[4.948s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.969s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:15:57Z [5,136ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:15:57Z [5,136ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:15:57Z [5,137ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.161s] [ext: isaacsim.core.api-4.8.0] startup +[5.223s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.264s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.274s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.281s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.292s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.304s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.309s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.318s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.325s] [ext: omni.sensors.net-1.0.0] startup +[5.329s] [ext: isaacsim.app.about-2.0.11] startup +[5.334s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.336s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.349s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.356s] [ext: omni.kit.property.audio-1.0.16] startup +[5.372s] [ext: omni.kit.property.camera-1.0.10] startup +[5.381s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.397s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.414s] [ext: omni.kit.property.light-1.0.12] startup +[5.447s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.452s] [ext: omni.kit.selection-0.1.6] startup +[5.475s] [ext: omni.kit.property.material-1.11.9] startup +[5.526s] [ext: omni.kit.property.transform-1.5.13] startup +[5.565s] [ext: omni.kit.property.render-1.2.1] startup +[5.574s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.582s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.751s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.840s] [ext: isaacsim.gui.property-1.1.3] startup +[5.938s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.974s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.061s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.147s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.172s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.181s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.192s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.199s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.202s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.215s] [ext: omni.kit.window.console-1.1.4] startup +[6.228s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.247s] [ext: omni.ocio-0.1.1] startup +[6.269s] [ext: omni.physx.demos-107.3.26] startup +[6.345s] [ext: omni.kit.property.physx-107.3.26] startup +[6.389s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.397s] [ext: omni.asset_validator.core-1.1.6] startup +[6.487s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.493s] [ext: omni.physx.vehicle-107.3.26] startup +[6.517s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.534s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.538s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.547s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.561s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.567s] [ext: omni.physx.camera-107.3.26] startup +[6.585s] [ext: omni.anim.curve.core-1.3.1] startup +[6.606s] [ext: omni.physx.cct-107.3.26] startup +[6.624s] [ext: omni.physx.graph-107.3.26] startup +[6.645s] [ext: omni.physx.supportui-107.3.26] startup +[6.669s] [ext: omni.physx.telemetry-107.3.26] startup +[6.673s] [ext: isaaclab-0.54.3] startup +[6.983s] [ext: isaaclab_contrib-0.0.2] startup +[6.985s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.986s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.992s] [ext: semantics.schema.property-2.0.1] startup +[6.995s] [ext: omni.physx.bundle-107.3.26] startup +[6.996s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.001s] [ext: isaaclab_assets-0.2.4] startup +[7.310s] [ext: isaaclab_tasks-0.11.14] startup +[7.463s] [ext: omni.kit.menu.common-2.0.1] startup +[7.465s] [ext: isaaclab_rl-0.5.0] startup +[7.466s] [ext: isaaclab_mimic-1.0.16] startup +[7.468s] [ext: isaaclab.python-2.3.2] startup +[7.471s] Simulation App Starting +2026-07-24T14:16:00Z [7,532ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:16:00Z [7,536ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:16:00Z [7,536ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:16:00Z [7,536ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:16:00Z [7,752ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.802s] app ready +[11.215s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54004 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54004 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-18.log +====================================================================================================== + +22:16:18 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 1 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:19Z [26,899ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:19Z [27,023ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:19Z [27,036ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:19Z [27,045ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.610815 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:19Z [27,057ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,063ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,439ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,439ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,442ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,443ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,443ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +2026-07-24T14:16:19Z [27,443ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563ce36fbb00:World0.usd@ <0x563ceff82e10>) + +[INFO]: Time taken for simulation start : 0.634468 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:30Z [38,449ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:31Z [38,778ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:31Z [38,778ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:31Z [38,778ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:31Z [38,778ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:43Z [50,919ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=1 variant=14 rng_seed=101014 piece_order=[1, 0, 3, 4, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=8 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 686 / 1100 env0 step: 687 / 1100 env0 step: 688 / 1100 env0 step: 689 / 1100 env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 step: 727 / 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env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1007 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-50_semantic-w04-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w04-s0000-a000,split=all,layout=1,variant=14,behavior=4/2026-07-24_22-15-50_semantic-w04-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w04-s0000-a000,split=all,layout=1,variant=14,behavior=4/2026-07-24_22-15-50_semantic-w04-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w04-s0000-a000,split=all,layout=1,variant=14,behavior=4/2026-07-24_22-15-50_semantic-w04-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w04-s0000-a000,split=all,layout=1,variant=14,behavior=4/_resume_2026-07-24_22-15-50_semantic-w04-s0000-a000.json (eval completed) +2026-07-24T14:20:27Z [275,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:27Z [275,237ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[275.644s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-53_semantic-w05-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-53_semantic-w05-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..b33251f9afb86ebfcd5af4a317b1915456e64af6 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-53_semantic-w05-s0000-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-53_semantic-w05-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221555.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.173s] [ext: omni.metrics.core-0.0.3] startup +[0.173s] [ext: omni.client.lib-1.1.0] startup +[0.185s] [ext: omni.blobkey-1.1.2] startup +[0.186s] [ext: omni.stats-1.0.1] startup +[0.186s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.197s] [ext: omni.ujitso.default-1.0.0] startup +[0.198s] [ext: omni.hsscclient-1.1.2] startup +[0.220s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.222s] [ext: omni.assets.plugins-0.0.0] startup +[0.222s] [ext: omni.gpu_foundation-0.0.0] startup +[0.228s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:55Z [209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:55Z [209ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.229s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:55Z [298ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:55Z [301ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:55Z [301ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:55Z [301ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:55Z [356ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:56Z [999ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [999ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,000ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,000ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,001ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,001ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,002ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,002ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,002ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,002ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,004ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:56Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 551128 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.825s] [ext: omni.materialx.libs-1.0.7] startup +[1.832s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.833s] [ext: omni.kit.test-2.0.1] startup +[1.871s] [ext: omni.kit.pipapi-0.0.0] startup +[1.871s] [ext: omni.usd.config-1.0.6] startup +[1.874s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.875s] [ext: omni.usd.libs-1.0.1] startup +[1.948s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.948s] [ext: omni.mdl-56.0.3] startup +[2.008s] [ext: omni.iray.libs-0.0.0] startup +[2.013s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.016s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.098s] [ext: omni.kit.telemetry-0.5.2] startup +[2.124s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:15:57Z [2,105ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:57Z [2,105ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.127s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:15:57Z [2,129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:57Z [2,129ms] [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) +2026-07-24T14:15:57Z [2,138ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:57Z [2,138ms] [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) +[2.159s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.161s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:15:57Z [2,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:57Z [2,144ms] [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) +2026-07-24T14:15:57Z [2,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:57Z [2,145ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:15:57Z [2,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:57Z [2,145ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.262s] [ext: omni.ui-2.27.1] startup +[2.273s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.274s] [ext: carb.audio-0.1.0] startup +[2.303s] [ext: omni.uiaudio-1.0.0] startup +[2.303s] [ext: omni.kit.uiapp-0.0.0] startup +[2.303s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.306s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.310s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.312s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.315s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.317s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.333s] [ext: omni.usd_resolver-1.0.0] startup +[2.336s] [ext: omni.usd.core-1.5.3] startup +[2.338s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.357s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.363s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.390s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.391s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.391s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.395s] [ext: omni.graph.exec-0.9.6] startup +[2.395s] [ext: omni.kit.actions.core-1.0.0] startup +[2.397s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.397s] [ext: omni.kit.exec.core-0.13.4] startup +[2.398s] [ext: omni.kit.commands-1.4.10] startup +[2.401s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.404s] [ext: omni.activity.core-1.0.3] startup +[2.405s] [ext: omni.resourcemonitor-107.0.1] startup +[2.407s] [ext: omni.timeline-1.0.14] startup +[2.408s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.410s] [ext: usdrt.scenegraph-7.6.1] startup +[2.440s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.441s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.446s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.450s] [ext: omni.usd-1.13.10] startup +[2.469s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.479s] [ext: omni.index.libs-380600.8087.0] startup +[2.479s] [ext: omni.volume-0.5.2] startup +[2.481s] [ext: omni.ujitso.client-0.0.0] startup +[2.481s] [ext: omni.index-1.0.1] startup +[2.482s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.483s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:15:57Z [2,479ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.512s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.514s] [ext: omni.kit.clipboard-1.0.5] startup +[2.514s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.516s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.520s] [ext: omni.kit.menu.core-1.1.2] startup +[2.521s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.524s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.525s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.526s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.527s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.527s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.531s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.532s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.539s] [ext: omni.ui.scene-1.11.5] startup +[2.543s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.543s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.555s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.562s] [ext: omni.kit.context_menu-1.8.6] startup +[2.563s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.567s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.569s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.571s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.572s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.572s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.576s] [ext: omni.kit.material.library-2.0.7] startup +[2.580s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.582s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.583s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.597s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.601s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.605s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.606s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.609s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.612s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.613s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.615s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.616s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.617s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.618s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.623s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.625s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.626s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.627s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.628s] [ext: omni.fabric.commands-1.1.6] startup +[2.631s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.631s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.632s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.633s] [ext: omni.debugdraw-0.1.4] startup +[2.636s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.645s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.646s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.646s] [ext: omni.kvdb-107.3.26] startup +[2.647s] [ext: omni.convexdecomposition-107.3.26] startup +[2.649s] [ext: omni.physx.foundation-107.3.26] startup +[2.650s] [ext: omni.localcache-107.3.26] startup +[2.651s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.652s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.652s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.653s] [ext: omni.usdphysics-107.3.26] startup +[2.655s] [ext: omni.kit.window.file-2.0.5] startup +[2.657s] [ext: omni.physx.cooking-107.3.26] startup +[2.659s] [ext: omni.physics-107.3.26] startup +[2.662s] [ext: omni.kit.window.property-1.12.1] startup +[2.664s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.673s] [ext: omni.physx-107.3.26] startup +[2.682s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.683s] [ext: omni.kit.property.usd-4.5.12] startup +[2.692s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.693s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:15:58Z [2,674ms] [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. +[2.695s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.695s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.706s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.710s] [ext: omni.inspect-1.0.2] startup +[2.711s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.720s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.721s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.727s] [ext: omni.graph.core-2.184.5] startup +[2.730s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.731s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.754s] [ext: omni.physx.commands-107.3.26] startup +[2.758s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.759s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:15:58Z [2,743ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.764s] [ext: omni.physx.ui-107.3.26] startup +[2.790s] [ext: isaacsim.core.version-2.0.6] startup +[2.790s] [ext: omni.physics.tensors-107.3.26] startup +[2.794s] [ext: omni.warp.core-1.8.2] startup +[2.951s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.952s] [ext: isaacsim.storage.native-1.5.1] startup +[2.954s] [ext: omni.physx.tensors-107.3.26] startup +[2.958s] [ext: isaacsim.core.utils-3.5.1] startup +[2.961s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.213s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.214s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.215s] [ext: omni.kit.window.stage-2.6.1] startup +[4.219s] [ext: omni.kit.menu.create-2.0.1] startup +[4.220s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.225s] [ext: omni.kit.scripting-107.3.2] startup +[4.229s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.231s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.232s] [ext: omni.graph.tools-1.79.2] startup +[4.250s] [ext: omni.ui_query-1.1.8] startup +[4.251s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.251s] [ext: omni.graph-1.141.2] startup +[4.287s] [ext: omni.graph.action_core-1.1.7] startup +[4.288s] [ext: omni.kit.ui_test-1.3.7] startup +[4.291s] [ext: omni.kit.browser.core-2.3.13] startup +[4.295s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.298s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.301s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.305s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.317s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.320s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.331s] [ext: omni.graph.action-1.130.0] startup +[4.334s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.340s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.347s] [ext: isaacsim.gui.components-1.2.1] startup +[4.354s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.360s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.467s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.472s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.481s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.566s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:16:00Z [4,554ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.576s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.577s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.580s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.586s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.590s] [ext: omni.graph.image.core-0.6.1] startup +[4.592s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.592s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.595s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.599s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.601s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.603s] [ext: omni.graph.nodes-1.170.10] startup +[4.611s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.616s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.621s] [ext: omni.syntheticdata-0.6.13] startup +[4.648s] [ext: omni.videoencoding-0.1.2] startup +[4.654s] [ext: omni.warp-1.8.2] startup +[4.660s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.677s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.682s] [ext: isaacsim.core.prims-0.6.1] startup +[4.711s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.721s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:16:00Z [4,850ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:16:00Z [4,850ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:16:00Z [4,851ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[4.877s] [ext: isaacsim.core.api-4.8.0] startup +[4.922s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[4.965s] [ext: isaacsim.core.nodes-3.4.3] startup +[4.974s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[4.979s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.984s] [ext: omni.sensors.nv.common-3.0.0] startup +[4.997s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.010s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.019s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.023s] [ext: omni.sensors.net-1.0.0] startup +[5.027s] [ext: isaacsim.app.about-2.0.11] startup +[5.029s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.031s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.036s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.042s] [ext: omni.kit.property.audio-1.0.16] startup +[5.047s] [ext: omni.kit.property.camera-1.0.10] startup +[5.052s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.071s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.081s] [ext: omni.kit.property.light-1.0.12] startup +[5.115s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.119s] [ext: omni.kit.selection-0.1.6] startup +[5.143s] [ext: omni.kit.property.material-1.11.9] startup +[5.226s] [ext: omni.kit.property.transform-1.5.13] startup +[5.248s] [ext: omni.kit.property.render-1.2.1] startup +[5.273s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.300s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.494s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.520s] [ext: isaacsim.gui.property-1.1.3] startup +[5.526s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.539s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.558s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.574s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.610s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.618s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[5.631s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[5.640s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[5.646s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[5.671s] [ext: omni.kit.window.console-1.1.4] startup +[5.689s] [ext: omni.rtx.window.settings-0.6.19] startup +[5.719s] [ext: omni.ocio-0.1.1] startup +[5.725s] [ext: omni.physx.demos-107.3.26] startup +[5.764s] [ext: omni.kit.property.physx-107.3.26] startup +[5.798s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[5.806s] [ext: omni.asset_validator.core-1.1.6] startup +[5.888s] [ext: omni.rtx.settings.core-0.6.5] startup +[5.896s] [ext: omni.physx.vehicle-107.3.26] startup +[5.919s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[5.936s] [ext: omni.kit.window.script_editor-2.0.1] startup +[5.941s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[5.950s] [ext: omni.physx.asset_validator-107.3.26] startup +[5.960s] [ext: omni.kit.window.toolbar-2.0.0] startup +[5.965s] [ext: omni.physx.camera-107.3.26] startup +[5.981s] [ext: omni.anim.curve.core-1.3.1] startup +[5.997s] [ext: omni.physx.cct-107.3.26] startup +[6.015s] [ext: omni.physx.graph-107.3.26] startup +[6.043s] [ext: omni.physx.supportui-107.3.26] startup +[6.067s] [ext: omni.physx.telemetry-107.3.26] startup +[6.069s] [ext: isaaclab-0.54.3] startup +[6.280s] [ext: isaaclab_contrib-0.0.2] startup +[6.281s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.284s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.289s] [ext: semantics.schema.property-2.0.1] startup +[6.290s] [ext: omni.physx.bundle-107.3.26] startup +[6.293s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.298s] [ext: isaaclab_assets-0.2.4] startup +[6.558s] [ext: isaaclab_tasks-0.11.14] startup +[6.711s] [ext: omni.kit.menu.common-2.0.1] startup +[6.713s] [ext: isaaclab_rl-0.5.0] startup +[6.715s] [ext: isaaclab_mimic-1.0.16] startup +[6.717s] [ext: isaaclab.python-2.3.2] startup +[6.720s] Simulation App Starting +2026-07-24T14:16:02Z [6,764ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:16:02Z [6,768ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:16:02Z [6,768ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:16:02Z [6,768ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:16:02Z [6,794ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[6.840s] app ready +[10.811s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-20.log +====================================================================================================== + +22:16:20 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 1 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:21Z [25,666ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:21Z [25,787ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:21Z [25,800ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:21Z [25,809ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.552633 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:21Z [25,821ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [25,827ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [26,220ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [26,220ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [26,224ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [26,224ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [26,224ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +2026-07-24T14:16:21Z [26,225ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56525eb4f180:World0.usd@ <0x56526b372510>) + +[INFO]: Time taken for simulation start : 0.656102 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:31Z [36,127ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:39Z [43,647ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:39Z [43,647ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:39Z [43,647ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:39Z [43,647ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:44Z [48,843ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=1 variant=15 rng_seed=201015 piece_order=[4, 3, 2, 1, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=8 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 [curobo-ttt] opponent=2/4 complete placed=4 empty=[0, 1, 2, 3, 4] +[curobo-ttt] semantic move=3/5 piece=player_piece2 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 461 / 1100 env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 env0 step: 465 / 1100 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=1 +env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1010 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-53_semantic-w05-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0000-a000,split=all,layout=1,variant=15,behavior=5/2026-07-24_22-15-53_semantic-w05-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0000-a000,split=all,layout=1,variant=15,behavior=5/2026-07-24_22-15-53_semantic-w05-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0000-a000,split=all,layout=1,variant=15,behavior=5/2026-07-24_22-15-53_semantic-w05-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0000-a000,split=all,layout=1,variant=15,behavior=5/_resume_2026-07-24_22-15-53_semantic-w05-s0000-a000.json (eval completed) +2026-07-24T14:20:12Z [256,924ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:12Z [256,924ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[257.476s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-56_semantic-w06-s0000-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-56_semantic-w06-s0000-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..5081cf5faa64501e85f727a6af281747630da28a --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-15-56_semantic-w06-s0000-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-15-56_semantic-w06-s0000-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_221558.log +[0.059s] [ext: omni.kit.async_engine-0.0.3] startup +[0.177s] [ext: omni.metrics.core-0.0.3] startup +[0.177s] [ext: omni.client.lib-1.1.0] startup +[0.189s] [ext: omni.blobkey-1.1.2] startup +[0.189s] [ext: omni.stats-1.0.1] startup +[0.190s] [ext: omni.datastore-0.0.0] startup +[0.194s] [ext: omni.client-1.3.0] startup +[0.198s] [ext: omni.ujitso.default-1.0.0] startup +[0.200s] [ext: omni.hsscclient-1.1.2] startup +[0.221s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.222s] [ext: omni.assets.plugins-0.0.0] startup +[0.223s] [ext: omni.gpu_foundation-0.0.0] startup +[0.229s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:15:58Z [205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:15:58Z [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) +[0.230s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:15:58Z [268ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:15:58Z [273ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:15:58Z [273ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:15:58Z [273ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:15:58Z [328ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:15:59Z [937ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [937ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [938ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [938ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [939ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [939ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [939ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [939ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [940ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [940ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [941ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [941ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:15:59Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 546624 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.770s] [ext: omni.materialx.libs-1.0.7] startup +[1.778s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.778s] [ext: omni.kit.test-2.0.1] startup +[1.817s] [ext: omni.kit.pipapi-0.0.0] startup +[1.818s] [ext: omni.usd.config-1.0.6] startup +[1.821s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.821s] [ext: omni.usd.libs-1.0.1] startup +[1.896s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.896s] [ext: omni.mdl-56.0.3] startup +[1.951s] [ext: omni.iray.libs-0.0.0] startup +[1.956s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.958s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.044s] [ext: omni.kit.telemetry-0.5.2] startup +[2.073s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:16:00Z [2,049ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:16:00Z [2,049ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.076s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:16:00Z [2,063ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:16:00Z [2,063ms] [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) +2026-07-24T14:16:00Z [2,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:16:00Z [2,071ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.097s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.099s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:16:00Z [2,077ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:16:00Z [2,077ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:16:00Z [2,078ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:16:00Z [2,078ms] [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) +2026-07-24T14:16:00Z [2,079ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:16:00Z [2,079ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.219s] [ext: omni.ui-2.27.1] startup +[2.227s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.228s] [ext: carb.audio-0.1.0] startup +[2.256s] [ext: omni.uiaudio-1.0.0] startup +[2.257s] [ext: omni.kit.uiapp-0.0.0] startup +[2.257s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.259s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.264s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.266s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.268s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.271s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.287s] [ext: omni.usd_resolver-1.0.0] startup +[2.290s] [ext: omni.usd.core-1.5.3] startup +[2.292s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.310s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.316s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.343s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.344s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.344s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.348s] [ext: omni.graph.exec-0.9.6] startup +[2.348s] [ext: omni.kit.actions.core-1.0.0] startup +[2.350s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.350s] [ext: omni.kit.exec.core-0.13.4] startup +[2.351s] [ext: omni.kit.commands-1.4.10] startup +[2.354s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.357s] [ext: omni.activity.core-1.0.3] startup +[2.358s] [ext: omni.resourcemonitor-107.0.1] startup +[2.360s] [ext: omni.timeline-1.0.14] startup +[2.361s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.363s] [ext: usdrt.scenegraph-7.6.1] startup +[2.393s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.394s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.399s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.403s] [ext: omni.usd-1.13.10] startup +[2.423s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.434s] [ext: omni.index.libs-380600.8087.0] startup +[2.434s] [ext: omni.volume-0.5.2] startup +[2.436s] [ext: omni.ujitso.client-0.0.0] startup +[2.436s] [ext: omni.index-1.0.1] startup +[2.437s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.438s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:16:00Z [2,429ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.466s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.468s] [ext: omni.kit.clipboard-1.0.5] startup +[2.468s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.470s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.474s] [ext: omni.kit.menu.core-1.1.2] startup +[2.475s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.477s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.478s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.479s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.480s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.480s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.484s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.485s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.491s] [ext: omni.ui.scene-1.11.5] startup +[2.495s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.495s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.506s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.512s] [ext: omni.kit.context_menu-1.8.6] startup +[2.513s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.517s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.520s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.521s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.522s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.522s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.525s] [ext: omni.kit.material.library-2.0.7] startup +[2.529s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.531s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.532s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.544s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.548s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.552s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.552s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.556s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.559s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.559s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.561s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.562s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.563s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.564s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.569s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.571s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.572s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.573s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.574s] [ext: omni.fabric.commands-1.1.6] startup +[2.576s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.577s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.578s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.578s] [ext: omni.debugdraw-0.1.4] startup +[2.581s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.589s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.590s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.590s] [ext: omni.kvdb-107.3.26] startup +[2.591s] [ext: omni.convexdecomposition-107.3.26] startup +[2.593s] [ext: omni.physx.foundation-107.3.26] startup +[2.595s] [ext: omni.localcache-107.3.26] startup +[2.596s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.596s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.597s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.597s] [ext: omni.usdphysics-107.3.26] startup +[2.599s] [ext: omni.kit.window.file-2.0.5] startup +[2.601s] [ext: omni.physx.cooking-107.3.26] startup +[2.604s] [ext: omni.physics-107.3.26] startup +[2.606s] [ext: omni.kit.window.property-1.12.1] startup +[2.608s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.617s] [ext: omni.physx-107.3.26] startup +[2.625s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.627s] [ext: omni.kit.property.usd-4.5.12] startup +[2.635s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.635s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:16:01Z [2,611ms] [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. +[2.637s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.637s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.648s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.651s] [ext: omni.inspect-1.0.2] startup +[2.652s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.661s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.662s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.667s] [ext: omni.graph.core-2.184.5] startup +[2.669s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.670s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.692s] [ext: omni.physx.commands-107.3.26] startup +[2.695s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.696s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:16:01Z [2,675ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.700s] [ext: omni.physx.ui-107.3.26] startup +[2.725s] [ext: isaacsim.core.version-2.0.6] startup +[2.726s] [ext: omni.physics.tensors-107.3.26] startup +[2.729s] [ext: omni.warp.core-1.8.2] startup +[2.885s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.886s] [ext: isaacsim.storage.native-1.5.1] startup +[2.888s] [ext: omni.physx.tensors-107.3.26] startup +[2.892s] [ext: isaacsim.core.utils-3.5.1] startup +[2.894s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.099s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.100s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.102s] [ext: omni.kit.window.stage-2.6.1] startup +[4.105s] [ext: omni.kit.menu.create-2.0.1] startup +[4.107s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.112s] [ext: omni.kit.scripting-107.3.2] startup +[4.115s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.118s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.119s] [ext: omni.graph.tools-1.79.2] startup +[4.137s] [ext: omni.ui_query-1.1.8] startup +[4.138s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.138s] [ext: omni.graph-1.141.2] startup +[4.174s] [ext: omni.graph.action_core-1.1.7] startup +[4.176s] [ext: omni.kit.ui_test-1.3.7] startup +[4.178s] [ext: omni.kit.browser.core-2.3.13] startup +[4.181s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.184s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.187s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.189s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.198s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.201s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.213s] [ext: omni.graph.action-1.130.0] startup +[4.215s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.218s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.229s] [ext: isaacsim.gui.components-1.2.1] startup +[4.236s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.246s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.331s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.336s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.343s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.409s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:16:02Z [4,391ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.418s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.421s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.424s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.433s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.435s] [ext: omni.graph.image.core-0.6.1] startup +[4.437s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.438s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.440s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.444s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.446s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.449s] [ext: omni.graph.nodes-1.170.10] startup +[4.457s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.462s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.468s] [ext: omni.syntheticdata-0.6.13] startup +[4.497s] [ext: omni.videoencoding-0.1.2] startup +[4.502s] [ext: omni.warp-1.8.2] startup +[4.509s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.528s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.532s] [ext: isaacsim.core.prims-0.6.1] startup +[4.564s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.574s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:16:03Z [4,818ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:16:03Z [4,818ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:16:03Z [4,831ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[4.865s] [ext: isaacsim.core.api-4.8.0] startup +[4.922s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.024s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.052s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.088s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.099s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.124s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.165s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.186s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.195s] [ext: omni.sensors.net-1.0.0] startup +[5.209s] [ext: isaacsim.app.about-2.0.11] startup +[5.221s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.233s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.254s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.281s] [ext: omni.kit.property.audio-1.0.16] startup +[5.326s] [ext: omni.kit.property.camera-1.0.10] startup +[5.353s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.428s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.459s] [ext: omni.kit.property.light-1.0.12] startup +[5.505s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.514s] [ext: omni.kit.selection-0.1.6] startup +[5.534s] [ext: omni.kit.property.material-1.11.9] startup +[5.620s] [ext: omni.kit.property.transform-1.5.13] startup +[5.730s] [ext: omni.kit.property.render-1.2.1] startup +[5.745s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.765s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.955s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.259s] [ext: isaacsim.gui.property-1.1.3] startup +[6.274s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.286s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.321s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.361s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.410s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.434s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.458s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.468s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.473s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.500s] [ext: omni.kit.window.console-1.1.4] startup +[6.516s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.534s] [ext: omni.ocio-0.1.1] startup +[6.549s] [ext: omni.physx.demos-107.3.26] startup +[6.599s] [ext: omni.kit.property.physx-107.3.26] startup +[6.645s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.656s] [ext: omni.asset_validator.core-1.1.6] startup +[6.771s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.780s] [ext: omni.physx.vehicle-107.3.26] startup +[6.807s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.825s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.832s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.841s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.856s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.863s] [ext: omni.physx.camera-107.3.26] startup +[6.878s] [ext: omni.anim.curve.core-1.3.1] startup +[6.903s] [ext: omni.physx.cct-107.3.26] startup +[6.922s] [ext: omni.physx.graph-107.3.26] startup +[6.946s] [ext: omni.physx.supportui-107.3.26] startup +[6.983s] [ext: omni.physx.telemetry-107.3.26] startup +[6.996s] [ext: isaaclab-0.54.3] startup +[7.247s] [ext: isaaclab_contrib-0.0.2] startup +[7.249s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.252s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.254s] [ext: semantics.schema.property-2.0.1] startup +[7.258s] [ext: omni.physx.bundle-107.3.26] startup +[7.261s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.266s] [ext: isaaclab_assets-0.2.4] startup +[7.526s] [ext: isaaclab_tasks-0.11.14] startup +[7.681s] [ext: omni.kit.menu.common-2.0.1] startup +[7.684s] [ext: isaaclab_rl-0.5.0] startup +[7.687s] [ext: isaaclab_mimic-1.0.16] startup +[7.690s] [ext: isaaclab.python-2.3.2] startup +[7.693s] Simulation App Starting +2026-07-24T14:16:06Z [7,732ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:16:06Z [7,736ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:16:06Z [7,736ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:16:06Z [7,736ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:16:06Z [7,759ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T14:16:06Z [7,783ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T14:16:06Z [7,783ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T14:16:06Z [7,783ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[7.819s] app ready +[11.562s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-16-24.log +====================================================================================================== + +22:16:24 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 2 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:16:24Z [26,488ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:16:25Z [26,618ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:25Z [26,631ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:16:25Z [26,640ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.599850 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:16:25Z [26,651ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [26,657ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [27,038ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [27,038ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [27,041ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [27,042ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [27,042ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +2026-07-24T14:16:25Z [27,042ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563551c6c5c0:World0.usd@ <0x56355e4ebf20>) + +[INFO]: Time taken for simulation start : 0.635001 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:16:38Z [39,627ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:16:38Z [39,888ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:38Z [39,888ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:38Z [39,888ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:38Z [39,888ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:16:49Z [51,252ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=2 variant=16 rng_seed=2016 piece_order=[1, 4, 3, 0, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1021 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-15-56_semantic-w06-s0000-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0000-a000,split=all,layout=2,variant=16,behavior=6/2026-07-24_22-15-56_semantic-w06-s0000-a000/episode_0000000_cam_head_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0000-a000,split=all,layout=2,variant=16,behavior=6/2026-07-24_22-15-56_semantic-w06-s0000-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0000-a000,split=all,layout=2,variant=16,behavior=6/2026-07-24_22-15-56_semantic-w06-s0000-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0000-a000,split=all,layout=2,variant=16,behavior=6/_resume_2026-07-24_22-15-56_semantic-w06-s0000-a000.json (eval completed) +2026-07-24T14:20:22Z [263,854ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:22Z [263,854ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[264.256s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-06_semantic-w02-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-06_semantic-w02-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..1c5fb692982eff3a0683d65e5afee12511c1685f --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-06_semantic-w02-s0001-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-06_semantic-w02-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222008.log +[0.057s] [ext: omni.kit.async_engine-0.0.3] startup +[0.175s] [ext: omni.metrics.core-0.0.3] startup +[0.176s] [ext: omni.client.lib-1.1.0] startup +[0.188s] [ext: omni.blobkey-1.1.2] startup +[0.188s] [ext: omni.stats-1.0.1] startup +[0.189s] [ext: omni.datastore-0.0.0] startup +[0.194s] [ext: omni.client-1.3.0] startup +[0.198s] [ext: omni.ujitso.default-1.0.0] startup +[0.199s] [ext: omni.hsscclient-1.1.2] startup +[0.232s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.234s] [ext: omni.assets.plugins-0.0.0] startup +[0.235s] [ext: omni.gpu_foundation-0.0.0] startup +[0.241s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:08Z [221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:08Z [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) +[0.242s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:08Z [288ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:08Z [292ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:08Z [292ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:08Z [292ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:08Z [338ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:09Z [1,038ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,038ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,039ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,039ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,041ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,041ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,042ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,042ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,042ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,042ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:09Z [1,044ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:09Z [1,044ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 535695 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.919s] [ext: omni.materialx.libs-1.0.7] startup +[1.926s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.927s] [ext: omni.kit.test-2.0.1] startup +[1.965s] [ext: omni.kit.pipapi-0.0.0] startup +[1.966s] [ext: omni.usd.config-1.0.6] startup +[1.969s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.969s] [ext: omni.usd.libs-1.0.1] startup +[2.041s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.041s] [ext: omni.mdl-56.0.3] startup +[2.097s] [ext: omni.iray.libs-0.0.0] startup +[2.102s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.104s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.187s] [ext: omni.kit.telemetry-0.5.2] startup +[2.220s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:10Z [2,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [2,200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.223s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:10Z [2,241ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [2,241ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:10Z [2,272ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [2,272ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.294s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.296s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:10Z [2,278ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [2,278ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:10Z [2,279ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [2,279ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:10Z [2,280ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [2,280ms] [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) +[2.462s] [ext: omni.ui-2.27.1] startup +[2.477s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.479s] [ext: carb.audio-0.1.0] startup +[2.506s] [ext: omni.uiaudio-1.0.0] startup +[2.507s] [ext: omni.kit.uiapp-0.0.0] startup +[2.507s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.511s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.518s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.521s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.525s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.528s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.553s] [ext: omni.usd_resolver-1.0.0] startup +[2.557s] [ext: omni.usd.core-1.5.3] startup +[2.560s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.581s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.588s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.615s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.615s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.616s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.619s] [ext: omni.graph.exec-0.9.6] startup +[2.620s] [ext: omni.kit.actions.core-1.0.0] startup +[2.621s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.622s] [ext: omni.kit.exec.core-0.13.4] startup +[2.623s] [ext: omni.kit.commands-1.4.10] startup +[2.626s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.629s] [ext: omni.activity.core-1.0.3] startup +[2.630s] [ext: omni.resourcemonitor-107.0.1] startup +[2.631s] [ext: omni.timeline-1.0.14] startup +[2.632s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.634s] [ext: usdrt.scenegraph-7.6.1] startup +[2.664s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.665s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.670s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.674s] [ext: omni.usd-1.13.10] startup +[2.693s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.703s] [ext: omni.index.libs-380600.8087.0] startup +[2.703s] [ext: omni.volume-0.5.2] startup +[2.705s] [ext: omni.ujitso.client-0.0.0] startup +[2.705s] [ext: omni.index-1.0.1] startup +[2.706s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.707s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:11Z [2,701ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.734s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.735s] [ext: omni.kit.clipboard-1.0.5] startup +[2.736s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.738s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.742s] [ext: omni.kit.menu.core-1.1.2] startup +[2.742s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.744s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.746s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.746s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.747s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.747s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.751s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.752s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.758s] [ext: omni.ui.scene-1.11.5] startup +[2.761s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.762s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.773s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.779s] [ext: omni.kit.context_menu-1.8.6] startup +[2.780s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.783s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.786s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.788s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.788s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.788s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.791s] [ext: omni.kit.material.library-2.0.7] startup +[2.795s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.797s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.798s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.810s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.814s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.818s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.818s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.821s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.824s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.825s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.827s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.828s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.829s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.830s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.835s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.837s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.837s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.839s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.840s] [ext: omni.fabric.commands-1.1.6] startup +[2.842s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.842s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.843s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.844s] [ext: omni.debugdraw-0.1.4] startup +[2.847s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.855s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.856s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.856s] [ext: omni.kvdb-107.3.26] startup +[2.857s] [ext: omni.convexdecomposition-107.3.26] startup +[2.859s] [ext: omni.physx.foundation-107.3.26] startup +[2.860s] [ext: omni.localcache-107.3.26] startup +[2.861s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.862s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.862s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.863s] [ext: omni.usdphysics-107.3.26] startup +[2.864s] [ext: omni.kit.window.file-2.0.5] startup +[2.867s] [ext: omni.physx.cooking-107.3.26] startup +[2.869s] [ext: omni.physics-107.3.26] startup +[2.872s] [ext: omni.kit.window.property-1.12.1] startup +[2.874s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.883s] [ext: omni.physx-107.3.26] startup +[2.891s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.892s] [ext: omni.kit.property.usd-4.5.12] startup +[2.900s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.901s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:11Z [2,882ms] [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. +[2.903s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.903s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.914s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.917s] [ext: omni.inspect-1.0.2] startup +[2.918s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.927s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.928s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.933s] [ext: omni.graph.core-2.184.5] startup +[2.935s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.936s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.957s] [ext: omni.physx.commands-107.3.26] startup +[2.961s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.962s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:11Z [2,945ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.966s] [ext: omni.physx.ui-107.3.26] startup +[2.991s] [ext: isaacsim.core.version-2.0.6] startup +[2.992s] [ext: omni.physics.tensors-107.3.26] startup +[2.996s] [ext: omni.warp.core-1.8.2] startup +[3.152s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.154s] [ext: isaacsim.storage.native-1.5.1] startup +[3.155s] [ext: omni.physx.tensors-107.3.26] startup +[3.165s] [ext: isaacsim.core.utils-3.5.1] startup +[3.167s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.379s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.380s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.381s] [ext: omni.kit.window.stage-2.6.1] startup +[4.385s] [ext: omni.kit.menu.create-2.0.1] startup +[4.387s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.392s] [ext: omni.kit.scripting-107.3.2] startup +[4.396s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.402s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.403s] [ext: omni.graph.tools-1.79.2] startup +[4.425s] [ext: omni.ui_query-1.1.8] startup +[4.426s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.426s] [ext: omni.graph-1.141.2] startup +[4.469s] [ext: omni.graph.action_core-1.1.7] startup +[4.471s] [ext: omni.kit.ui_test-1.3.7] startup +[4.474s] [ext: omni.kit.browser.core-2.3.13] startup +[4.479s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.482s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.486s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.490s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.502s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.505s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.518s] [ext: omni.graph.action-1.130.0] startup +[4.522s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.525s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.535s] [ext: isaacsim.gui.components-1.2.1] startup +[4.542s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.550s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.820s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.825s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.834s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.898s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:13Z [4,887ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.910s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.913s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.916s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.923s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.927s] [ext: omni.graph.image.core-0.6.1] startup +[4.931s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.932s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.933s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.937s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.941s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.943s] [ext: omni.graph.nodes-1.170.10] startup +[4.956s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.960s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.967s] [ext: omni.syntheticdata-0.6.13] startup +[5.016s] [ext: omni.videoencoding-0.1.2] startup +[5.022s] [ext: omni.warp-1.8.2] startup +[5.028s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.052s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.054s] [ext: isaacsim.core.prims-0.6.1] startup +[5.106s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.115s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:13Z [5,240ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:13Z [5,240ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:13Z [5,242ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.268s] [ext: isaacsim.core.api-4.8.0] startup +[5.296s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.334s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.346s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.356s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.365s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.392s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.406s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.423s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.434s] [ext: omni.sensors.net-1.0.0] startup +[5.441s] [ext: isaacsim.app.about-2.0.11] startup +[5.453s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.454s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.471s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.488s] [ext: omni.kit.property.audio-1.0.16] startup +[5.504s] [ext: omni.kit.property.camera-1.0.10] startup +[5.512s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.544s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.563s] [ext: omni.kit.property.light-1.0.12] startup +[5.625s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.630s] [ext: omni.kit.selection-0.1.6] startup +[5.666s] [ext: omni.kit.property.material-1.11.9] startup +[5.805s] [ext: omni.kit.property.transform-1.5.13] startup +[5.866s] [ext: omni.kit.property.render-1.2.1] startup +[5.886s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.893s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.907s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.919s] [ext: isaacsim.gui.property-1.1.3] startup +[5.924s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.927s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.939s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.954s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.978s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.986s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[5.993s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[5.999s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.002s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.012s] [ext: omni.kit.window.console-1.1.4] startup +[6.018s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.026s] [ext: omni.ocio-0.1.1] startup +[6.034s] [ext: omni.physx.demos-107.3.26] startup +[6.052s] [ext: omni.kit.property.physx-107.3.26] startup +[6.073s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.077s] [ext: omni.asset_validator.core-1.1.6] startup +[6.125s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.129s] [ext: omni.physx.vehicle-107.3.26] startup +[6.146s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.155s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.158s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.165s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.173s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.178s] [ext: omni.physx.camera-107.3.26] startup +[6.188s] [ext: omni.anim.curve.core-1.3.1] startup +[6.202s] [ext: omni.physx.cct-107.3.26] startup +[6.222s] [ext: omni.physx.graph-107.3.26] startup +[6.244s] [ext: omni.physx.supportui-107.3.26] startup +[6.266s] [ext: omni.physx.telemetry-107.3.26] startup +[6.272s] [ext: isaaclab-0.54.3] startup +[6.489s] [ext: isaaclab_contrib-0.0.2] startup +[6.490s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.492s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.494s] [ext: semantics.schema.property-2.0.1] startup +[6.496s] [ext: omni.physx.bundle-107.3.26] startup +[6.497s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.502s] [ext: isaaclab_assets-0.2.4] startup +[6.776s] [ext: isaaclab_tasks-0.11.14] startup +[6.943s] [ext: omni.kit.menu.common-2.0.1] startup +[6.949s] [ext: isaaclab_rl-0.5.0] startup +[6.952s] [ext: isaaclab_mimic-1.0.16] startup +[6.954s] [ext: isaaclab.python-2.3.2] startup +[6.958s] Simulation App Starting +2026-07-24T14:20:15Z [7,009ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:20:15Z [7,013ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:15Z [7,013ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:15Z [7,013ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:15Z [7,037ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.084s] app ready +[11.240s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-35.log +====================================================================================================== + +22:20:35 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 3 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:20:36Z [27,797ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:20:36Z [27,925ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:36Z [27,937ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:36Z [27,947ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.631173 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:20:36Z [27,959ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [27,964ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [28,357ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [28,357ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [28,359ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [28,359ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [28,359ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +2026-07-24T14:20:36Z [28,360ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55fee16d7d90:World0.usd@ <0x55feedec71d0>) + +[INFO]: Time taken for simulation start : 0.647493 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:20:46Z [38,143ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:20:46Z [38,450ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:46Z [38,450ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:46Z [38,450ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:46Z [38,450ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:58Z [49,648ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=3 variant=19 rng_seed=3019 piece_order=[4, 2, 0, 1, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_5 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 env0 step: 461 / 1100 [curobo-ttt] opponent=2/4 complete placed=4 empty=[1, 3, 6, 7, 8] +[curobo-ttt] semantic move=3/5 piece=player_piece0 grasp=left_side arm=left target=cell_7 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=7 +env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 env0 step: 465 / 1100 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semantic move=4/5 piece=player_piece1 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 step: 727 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[8] +[curobo-ttt] semantic move=5/5 piece=player_piece3 grasp=right_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=8 +env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=995 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-06_semantic-w02-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0001-a000,split=all,layout=3,variant=19,behavior=9/2026-07-24_22-20-06_semantic-w02-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0001-a000,split=all,layout=3,variant=19,behavior=9/2026-07-24_22-20-06_semantic-w02-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0001-a000,split=all,layout=3,variant=19,behavior=9/2026-07-24_22-20-06_semantic-w02-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0001-a000,split=all,layout=3,variant=19,behavior=9/_resume_2026-07-24_22-20-06_semantic-w02-s0001-a000.json (eval completed) +2026-07-24T14:24:28Z [260,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:28Z [260,034ms] [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) +[260.371s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-07_semantic-w00-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-07_semantic-w00-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..f4a71587bc171d9c2aca0b314bb761b2ed2529a3 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-07_semantic-w00-s0001-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-07_semantic-w00-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222010.log +[0.050s] [ext: omni.kit.async_engine-0.0.3] startup +[0.174s] [ext: omni.metrics.core-0.0.3] startup +[0.174s] [ext: omni.client.lib-1.1.0] startup +[0.186s] [ext: omni.blobkey-1.1.2] startup +[0.186s] [ext: omni.stats-1.0.1] startup +[0.187s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.197s] [ext: omni.ujitso.default-1.0.0] startup +[0.198s] [ext: omni.hsscclient-1.1.2] startup +[0.220s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.222s] [ext: omni.assets.plugins-0.0.0] startup +[0.224s] [ext: omni.gpu_foundation-0.0.0] startup +[0.230s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:10Z [211ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [211ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.231s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:10Z [288ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:10Z [294ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:10Z [294ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:10Z [294ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:10Z [351ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:12Z [1,977ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [1,977ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [1,987ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [1,987ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [1,991ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [1,991ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [1,996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [1,996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,001ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,001ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,013ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,013ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:12Z [2,014ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 534978 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.966s] [ext: omni.materialx.libs-1.0.7] startup +[2.974s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.975s] [ext: omni.kit.test-2.0.1] startup +[3.015s] [ext: omni.kit.pipapi-0.0.0] startup +[3.016s] [ext: omni.usd.config-1.0.6] startup +[3.019s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.019s] [ext: omni.usd.libs-1.0.1] startup +[3.092s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.092s] [ext: omni.mdl-56.0.3] startup +[3.147s] [ext: omni.iray.libs-0.0.0] startup +[3.152s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.154s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.236s] [ext: omni.kit.telemetry-0.5.2] startup +[3.280s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:13Z [3,261ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,261ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.282s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:13Z [3,277ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,277ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:13Z [3,284ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,284ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.305s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.307s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:13Z [3,290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,290ms] [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) +2026-07-24T14:20:13Z [3,291ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,291ms] [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) +2026-07-24T14:20:13Z [3,292ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,292ms] [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) +[3.588s] [ext: omni.ui-2.27.1] startup +[3.597s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.598s] [ext: carb.audio-0.1.0] startup +[3.626s] [ext: omni.uiaudio-1.0.0] startup +[3.627s] [ext: omni.kit.uiapp-0.0.0] startup +[3.627s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.629s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.634s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.636s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.638s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.641s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.656s] [ext: omni.usd_resolver-1.0.0] startup +[3.659s] [ext: omni.usd.core-1.5.3] startup +[3.661s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.679s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.685s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.712s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.712s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.713s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.716s] [ext: omni.graph.exec-0.9.6] startup +[3.717s] [ext: omni.kit.actions.core-1.0.0] startup +[3.718s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.719s] [ext: omni.kit.exec.core-0.13.4] startup +[3.720s] [ext: omni.kit.commands-1.4.10] startup +[3.723s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.726s] [ext: omni.activity.core-1.0.3] startup +[3.727s] [ext: omni.resourcemonitor-107.0.1] startup +[3.728s] [ext: omni.timeline-1.0.14] startup +[3.729s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.731s] [ext: usdrt.scenegraph-7.6.1] startup +[3.760s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.761s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.767s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.770s] [ext: omni.usd-1.13.10] startup +[3.790s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.799s] [ext: omni.index.libs-380600.8087.0] startup +[3.799s] [ext: omni.volume-0.5.2] startup +[3.801s] [ext: omni.ujitso.client-0.0.0] startup +[3.802s] [ext: omni.index-1.0.1] startup +[3.802s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.803s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:14Z [3,799ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.831s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.833s] [ext: omni.kit.clipboard-1.0.5] startup +[3.833s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.835s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.839s] [ext: omni.kit.menu.core-1.1.2] startup +[3.840s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.842s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.843s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.844s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.845s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.845s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.849s] 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omni.kit.window.preferences-1.8.0] startup +[3.911s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.915s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.916s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.919s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.922s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.923s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.924s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.925s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.926s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.927s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.932s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.934s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.934s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.936s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.937s] [ext: omni.fabric.commands-1.1.6] startup +[3.939s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.940s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.940s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.941s] [ext: omni.debugdraw-0.1.4] startup +[3.944s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.952s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.953s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.953s] [ext: omni.kvdb-107.3.26] startup +[3.954s] [ext: omni.convexdecomposition-107.3.26] startup +[3.956s] [ext: omni.physx.foundation-107.3.26] startup +[3.958s] [ext: omni.localcache-107.3.26] startup +[3.959s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.959s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.960s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.960s] [ext: omni.usdphysics-107.3.26] startup +[3.962s] [ext: omni.kit.window.file-2.0.5] startup +[3.964s] [ext: omni.physx.cooking-107.3.26] startup +[3.966s] [ext: omni.physics-107.3.26] startup +[3.969s] [ext: omni.kit.window.property-1.12.1] startup +[3.971s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.980s] [ext: omni.physx-107.3.26] startup +[3.987s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.989s] [ext: omni.kit.property.usd-4.5.12] startup +[3.997s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.998s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:14Z [3,979ms] [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. +[3.999s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.000s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.010s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.013s] [ext: omni.inspect-1.0.2] startup +[4.014s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.023s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.024s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.029s] [ext: omni.graph.core-2.184.5] startup +[4.031s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.033s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.054s] [ext: omni.physx.commands-107.3.26] startup +[4.058s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.059s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:14Z [4,043ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.063s] [ext: omni.physx.ui-107.3.26] startup +[4.089s] [ext: isaacsim.core.version-2.0.6] startup +[4.089s] [ext: omni.physics.tensors-107.3.26] startup +[4.093s] [ext: omni.warp.core-1.8.2] startup +[4.252s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.253s] [ext: isaacsim.storage.native-1.5.1] startup +[4.255s] [ext: omni.physx.tensors-107.3.26] startup +[4.259s] [ext: isaacsim.core.utils-3.5.1] startup +[4.261s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.548s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.549s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.550s] [ext: omni.kit.window.stage-2.6.1] startup +[5.554s] [ext: omni.kit.menu.create-2.0.1] startup +[5.555s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.560s] [ext: omni.kit.scripting-107.3.2] startup +[5.563s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.566s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.566s] [ext: omni.graph.tools-1.79.2] startup +[5.584s] [ext: omni.ui_query-1.1.8] startup +[5.585s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.585s] [ext: omni.graph-1.141.2] startup +[5.620s] [ext: omni.graph.action_core-1.1.7] startup +[5.621s] [ext: omni.kit.ui_test-1.3.7] startup +[5.624s] [ext: omni.kit.browser.core-2.3.13] startup +[5.629s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.634s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.639s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.644s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.655s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.659s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.676s] [ext: omni.graph.action-1.130.0] startup +[5.681s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.698s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.710s] [ext: isaacsim.gui.components-1.2.1] startup +[5.715s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.720s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.795s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.799s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.811s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.869s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:16Z [5,854ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.875s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.876s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.879s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.884s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.886s] [ext: omni.graph.image.core-0.6.1] startup +[5.887s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.887s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.888s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.889s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.891s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.892s] [ext: omni.graph.nodes-1.170.10] startup +[5.901s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.904s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.906s] [ext: omni.syntheticdata-0.6.13] startup +[5.929s] [ext: omni.videoencoding-0.1.2] startup +[5.931s] [ext: omni.warp-1.8.2] startup +[5.942s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.964s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.967s] [ext: isaacsim.core.prims-0.6.1] startup +[5.996s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.002s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:16Z [6,353ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:16Z [6,353ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:16Z [6,354ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.377s] [ext: isaacsim.core.api-4.8.0] startup +[6.398s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.463s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.484s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.492s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.502s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.518s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.525s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.539s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.547s] [ext: omni.sensors.net-1.0.0] startup +[6.552s] [ext: isaacsim.app.about-2.0.11] startup +[6.564s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.565s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.569s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.580s] [ext: omni.kit.property.audio-1.0.16] startup +[6.588s] [ext: omni.kit.property.camera-1.0.10] startup +[6.593s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.604s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.614s] [ext: omni.kit.property.light-1.0.12] startup +[6.627s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.630s] [ext: omni.kit.selection-0.1.6] startup +[6.632s] [ext: omni.kit.property.material-1.11.9] startup +[6.646s] [ext: omni.kit.property.transform-1.5.13] startup +[6.658s] [ext: omni.kit.property.render-1.2.1] startup +[6.663s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.667s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.712s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.740s] [ext: isaacsim.gui.property-1.1.3] startup +[6.752s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.761s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.823s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.926s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.058s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.105s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.139s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.150s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.153s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.174s] [ext: omni.kit.window.console-1.1.4] startup +[7.199s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.215s] [ext: omni.ocio-0.1.1] startup +[7.219s] [ext: omni.physx.demos-107.3.26] startup +[7.275s] [ext: omni.kit.property.physx-107.3.26] startup +[7.296s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.300s] [ext: omni.asset_validator.core-1.1.6] startup +[7.350s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.354s] [ext: omni.physx.vehicle-107.3.26] startup +[7.369s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.381s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.387s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.393s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.406s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.413s] [ext: omni.physx.camera-107.3.26] startup +[7.423s] [ext: omni.anim.curve.core-1.3.1] startup +[7.438s] [ext: omni.physx.cct-107.3.26] startup +[7.452s] [ext: omni.physx.graph-107.3.26] startup +[7.483s] [ext: omni.physx.supportui-107.3.26] startup +[7.506s] [ext: omni.physx.telemetry-107.3.26] startup +[7.515s] [ext: isaaclab-0.54.3] startup +[7.763s] [ext: isaaclab_contrib-0.0.2] startup +[7.765s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.768s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.773s] [ext: semantics.schema.property-2.0.1] startup +[7.777s] [ext: omni.physx.bundle-107.3.26] startup +[7.777s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.785s] [ext: isaaclab_assets-0.2.4] startup +[8.064s] [ext: isaaclab_tasks-0.11.14] startup +[8.226s] [ext: omni.kit.menu.common-2.0.1] startup +[8.229s] [ext: isaaclab_rl-0.5.0] startup +[8.232s] [ext: isaaclab_mimic-1.0.16] startup +[8.233s] [ext: isaaclab.python-2.3.2] startup +[8.237s] Simulation App Starting +2026-07-24T14:20:18Z [8,304ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:18Z [8,304ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:18Z [8,304ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:18Z [8,328ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.373s] app ready +[12.379s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-37.log +====================================================================================================== + +22:20:37 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 2 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:20:38Z [28,112ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:20:38Z [28,234ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:38Z [28,248ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:38Z [28,257ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.575647 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:20:38Z [28,269ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,275ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,653ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,653ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,656ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,656ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,657ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +2026-07-24T14:20:38Z [28,657ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d021b5a3a0:World0.usd@ <0x55d02e407e60>) + +[INFO]: Time taken for simulation start : 0.630539 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:20:48Z [38,373ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:20:52Z [42,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:52Z [42,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:52Z [42,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:52Z [42,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:00Z [50,493ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=2 variant=17 rng_seed=102017 piece_order=[4, 3, 1, 0, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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piece=player_piece3 grasp=right_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=7 +env0 step: 257 / 1100 env0 step: 258 / 1100 env0 step: 259 / 1100 env0 step: 260 / 1100 env0 step: 261 / 1100 env0 step: 262 / 1100 env0 step: 263 / 1100 env0 step: 264 / 1100 env0 step: 265 / 1100 env0 step: 266 / 1100 env0 step: 267 / 1100 env0 step: 268 / 1100 env0 step: 269 / 1100 env0 step: 270 / 1100 env0 step: 271 / 1100 env0 step: 272 / 1100 env0 step: 273 / 1100 env0 step: 274 / 1100 env0 step: 275 / 1100 env0 step: 276 / 1100 env0 step: 277 / 1100 env0 step: 278 / 1100 env0 step: 279 / 1100 env0 step: 280 / 1100 env0 step: 281 / 1100 env0 step: 282 / 1100 env0 step: 283 / 1100 env0 step: 284 / 1100 env0 step: 285 / 1100 env0 step: 286 / 1100 env0 step: 287 / 1100 env0 step: 288 / 1100 env0 step: 289 / 1100 env0 step: 290 / 1100 env0 step: 291 / 1100 env0 step: 292 / 1100 env0 step: 293 / 1100 env0 step: 294 / 1100 env0 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 env0 step: 1040 / 1100 env0 step: 1041 / 1100 env0 step: 1042 / 1100 env0 step: 1043 / 1100 env0 step: 1044 / 1100 env0 step: 1045 / 1100 env0 step: 1046 / 1100 env0 step: 1047 / 1100 env0 step: 1048 / 1100 env0 step: 1049 / 1100 env0 step: 1050 / 1100 env0 step: 1051 / 1100 env0 step: 1052 / 1100 env0 step: 1053 / 1100 env0 step: 1054 / 1100 env0 step: 1055 / 1100 env0 step: 1056 / 1100 env0 step: 1057 / 1100 env0 step: 1058 / 1100 env0 step: 1059 / 1100 env0 step: 1060 / 1100 env0 step: 1061 / 1100 env0 step: 1062 / 1100 env0 step: 1063 / 1100 env0 step: 1064 / 1100 env0 step: 1065 / 1100 env0 step: 1066 / 1100 env0 step: 1067 / 1100 env0 step: 1068 / 1100 env0 step: 1069 / 1100 env0 step: 1070 / 1100 env0 step: 1071 / 1100 env0 step: 1072 / 1100 env0 step: 1073 / 1100 env0 step: 1074 / 1100 env0 step: 1075 / 1100 env0 step: 1076 / 1100 env0 step: 1077 / 1100 env0 step: 1078 / 1100 env0 step: 1079 / 1100 env0 step: 1080 / 1100 env0 step: 1081 / 1100 env0 step: 1082 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1082 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-07_semantic-w00-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0001-a000,split=all,layout=2,variant=17,behavior=7/2026-07-24_22-20-07_semantic-w00-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 218 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0001-a000,split=all,layout=2,variant=17,behavior=7/2026-07-24_22-20-07_semantic-w00-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 218 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0001-a000,split=all,layout=2,variant=17,behavior=7/2026-07-24_22-20-07_semantic-w00-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 218 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0001-a000,split=all,layout=2,variant=17,behavior=7/_resume_2026-07-24_22-20-07_semantic-w00-s0001-a000.json (eval completed) +2026-07-24T14:24:49Z [279,248ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:49Z [279,248ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[279.588s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-08_semantic-w01-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-08_semantic-w01-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..14c982ed21a4a4d3e4564671e8376d5772f3ddf6 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-08_semantic-w01-s0001-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54001 +[INFO] device_id = 1 → CUDA_VISIBLE_DEVICES=1 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-08_semantic-w01-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222010.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.182s] [ext: omni.metrics.core-0.0.3] startup +[0.182s] [ext: omni.client.lib-1.1.0] startup +[0.194s] [ext: omni.blobkey-1.1.2] startup +[0.195s] [ext: omni.stats-1.0.1] startup +[0.195s] [ext: omni.datastore-0.0.0] startup +[0.200s] [ext: omni.client-1.3.0] startup +[0.204s] [ext: omni.ujitso.default-1.0.0] startup +[0.206s] [ext: omni.hsscclient-1.1.2] startup +[0.228s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.229s] [ext: omni.assets.plugins-0.0.0] startup +[0.230s] [ext: omni.gpu_foundation-0.0.0] startup +[0.236s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:10Z [217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:10Z [217ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.237s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:10Z [283ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:10Z [291ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:10Z [291ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:10Z [291ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:10Z [322ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:11Z [1,325ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,325ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,331ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,331ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,332ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,332ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,334ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,334ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,335ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,335ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,336ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,336ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:11Z [1,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 535204 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.535s] [ext: omni.materialx.libs-1.0.7] startup +[2.542s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.542s] [ext: omni.kit.test-2.0.1] startup +[2.581s] [ext: omni.kit.pipapi-0.0.0] startup +[2.581s] [ext: omni.usd.config-1.0.6] startup +[2.584s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.584s] [ext: omni.usd.libs-1.0.1] startup +[2.657s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.658s] [ext: omni.mdl-56.0.3] startup +[2.713s] [ext: omni.iray.libs-0.0.0] startup +[2.719s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.721s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.804s] [ext: omni.kit.telemetry-0.5.2] startup +[2.828s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:12Z [2,809ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:12Z [2,809ms] [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) +[2.831s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:13Z [3,026ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,026ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:13Z [3,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,034ms] [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) +[3.056s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.058s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:13Z [3,040ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,040ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:13Z [3,041ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,041ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:13Z [3,042ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:13Z [3,042ms] [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) +[3.179s] [ext: omni.ui-2.27.1] startup +[3.192s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.193s] [ext: carb.audio-0.1.0] startup +[3.222s] [ext: omni.uiaudio-1.0.0] startup +[3.223s] [ext: omni.kit.uiapp-0.0.0] startup +[3.223s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.227s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.234s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.236s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.240s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.243s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.266s] [ext: omni.usd_resolver-1.0.0] startup +[3.270s] [ext: omni.usd.core-1.5.3] startup +[3.272s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.294s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.300s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.327s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.328s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.329s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.332s] [ext: omni.graph.exec-0.9.6] startup +[3.332s] [ext: omni.kit.actions.core-1.0.0] startup +[3.334s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.334s] [ext: omni.kit.exec.core-0.13.4] startup +[3.336s] [ext: omni.kit.commands-1.4.10] startup +[3.338s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.341s] [ext: omni.activity.core-1.0.3] startup +[3.342s] [ext: omni.resourcemonitor-107.0.1] startup +[3.344s] [ext: omni.timeline-1.0.14] startup +[3.345s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.347s] [ext: usdrt.scenegraph-7.6.1] startup +[3.377s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.378s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.384s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.388s] [ext: omni.usd-1.13.10] startup +[3.410s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.420s] [ext: omni.index.libs-380600.8087.0] startup +[3.420s] [ext: omni.volume-0.5.2] startup +[3.422s] [ext: omni.ujitso.client-0.0.0] startup +[3.423s] [ext: omni.index-1.0.1] startup +[3.423s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.424s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:13Z [3,419ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.452s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.453s] [ext: omni.kit.clipboard-1.0.5] startup +[3.454s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.456s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.460s] [ext: omni.kit.menu.core-1.1.2] startup +[3.460s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.463s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.464s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.465s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.466s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.466s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.470s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.470s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.477s] [ext: omni.ui.scene-1.11.5] startup +[3.480s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.481s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.492s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.498s] [ext: omni.kit.context_menu-1.8.6] startup +[3.499s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.503s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.505s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.507s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.508s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.508s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.511s] [ext: omni.kit.material.library-2.0.7] startup +[3.514s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.516s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.518s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.530s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.534s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.538s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.539s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.542s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.545s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.546s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.547s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.549s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.550s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.550s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.555s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.558s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.558s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.560s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.561s] [ext: omni.fabric.commands-1.1.6] startup +[3.563s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.564s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.565s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.566s] [ext: omni.debugdraw-0.1.4] startup +[3.568s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.577s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.578s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.578s] [ext: omni.kvdb-107.3.26] startup +[3.579s] [ext: omni.convexdecomposition-107.3.26] startup +[3.581s] [ext: omni.physx.foundation-107.3.26] startup +[3.582s] [ext: omni.localcache-107.3.26] startup +[3.584s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.584s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.585s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.585s] [ext: omni.usdphysics-107.3.26] startup +[3.587s] [ext: omni.kit.window.file-2.0.5] startup +[3.589s] [ext: omni.physx.cooking-107.3.26] startup +[3.591s] [ext: omni.physics-107.3.26] startup +[3.594s] [ext: omni.kit.window.property-1.12.1] startup +[3.596s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.605s] [ext: omni.physx-107.3.26] startup +[3.613s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.615s] [ext: omni.kit.property.usd-4.5.12] startup +[3.623s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.624s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:13Z [3,605ms] [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. +[3.625s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.626s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.636s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.640s] [ext: omni.inspect-1.0.2] startup +[3.641s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.651s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.652s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.657s] [ext: omni.graph.core-2.184.5] startup +[3.660s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.661s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.683s] [ext: omni.physx.commands-107.3.26] startup +[3.687s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.687s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:13Z [3,671ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.692s] [ext: omni.physx.ui-107.3.26] startup +[3.717s] [ext: isaacsim.core.version-2.0.6] startup +[3.717s] [ext: omni.physics.tensors-107.3.26] startup +[3.721s] [ext: omni.warp.core-1.8.2] startup +[3.877s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.879s] [ext: isaacsim.storage.native-1.5.1] startup +[3.880s] [ext: omni.physx.tensors-107.3.26] startup +[4.077s] [ext: isaacsim.core.utils-3.5.1] startup +[4.079s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.418s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.418s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.420s] [ext: omni.kit.window.stage-2.6.1] startup +[5.423s] [ext: omni.kit.menu.create-2.0.1] startup +[5.424s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.429s] [ext: omni.kit.scripting-107.3.2] startup +[5.432s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.435s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.435s] [ext: omni.graph.tools-1.79.2] startup +[5.453s] [ext: omni.ui_query-1.1.8] startup +[5.453s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.454s] [ext: omni.graph-1.141.2] startup +[5.489s] [ext: omni.graph.action_core-1.1.7] startup +[5.490s] [ext: omni.kit.ui_test-1.3.7] startup +[5.493s] [ext: omni.kit.browser.core-2.3.13] startup +[5.498s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.500s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.503s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.506s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.517s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.521s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.531s] [ext: omni.graph.action-1.130.0] startup +[5.535s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.538s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.545s] [ext: isaacsim.gui.components-1.2.1] startup +[5.549s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.557s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.660s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.665s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.674s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.763s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:15Z [5,747ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.770s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.770s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.774s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.780s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.783s] [ext: omni.graph.image.core-0.6.1] startup +[5.784s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.785s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.786s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.787s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.790s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.791s] [ext: omni.graph.nodes-1.170.10] startup +[5.801s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.805s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.808s] [ext: omni.syntheticdata-0.6.13] startup +[5.832s] [ext: omni.videoencoding-0.1.2] startup +[5.834s] [ext: omni.warp-1.8.2] startup +[5.841s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.865s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.868s] [ext: isaacsim.core.prims-0.6.1] startup +[5.904s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.911s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:16Z [6,432ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:16Z [6,432ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:16Z [6,433ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.456s] [ext: isaacsim.core.api-4.8.0] startup +[6.478s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.524s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.531s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.542s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.548s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.563s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.571s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.583s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.593s] [ext: omni.sensors.net-1.0.0] startup +[6.605s] [ext: isaacsim.app.about-2.0.11] startup +[6.609s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.610s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.616s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.622s] [ext: omni.kit.property.audio-1.0.16] startup +[6.627s] [ext: omni.kit.property.camera-1.0.10] startup +[6.631s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.639s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.647s] [ext: omni.kit.property.light-1.0.12] startup +[6.667s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.669s] [ext: omni.kit.selection-0.1.6] startup +[6.672s] [ext: omni.kit.property.material-1.11.9] startup +[6.748s] [ext: omni.kit.property.transform-1.5.13] startup +[6.805s] [ext: omni.kit.property.render-1.2.1] startup +[6.814s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.818s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.965s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.117s] [ext: isaacsim.gui.property-1.1.3] startup +[7.121s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.125s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.137s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.156s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.183s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.194s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.203s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.209s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.213s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.226s] [ext: omni.kit.window.console-1.1.4] startup +[7.236s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.248s] [ext: omni.ocio-0.1.1] startup +[7.254s] [ext: omni.physx.demos-107.3.26] startup +[7.308s] [ext: omni.kit.property.physx-107.3.26] startup +[7.352s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.358s] [ext: omni.asset_validator.core-1.1.6] startup +[7.407s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.412s] [ext: omni.physx.vehicle-107.3.26] startup +[7.435s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.448s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.454s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.460s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.468s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.476s] [ext: omni.physx.camera-107.3.26] startup +[7.487s] [ext: omni.anim.curve.core-1.3.1] startup +[7.505s] [ext: omni.physx.cct-107.3.26] startup +[7.535s] [ext: omni.physx.graph-107.3.26] startup +[7.554s] [ext: omni.physx.supportui-107.3.26] startup +[7.579s] [ext: omni.physx.telemetry-107.3.26] startup +[7.587s] [ext: isaaclab-0.54.3] startup +[7.825s] [ext: isaaclab_contrib-0.0.2] startup +[7.827s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.830s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.835s] [ext: semantics.schema.property-2.0.1] startup +[7.839s] [ext: omni.physx.bundle-107.3.26] startup +[7.839s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.851s] [ext: isaaclab_assets-0.2.4] startup +[8.211s] [ext: isaaclab_tasks-0.11.14] startup +[8.375s] [ext: omni.kit.menu.common-2.0.1] startup +[8.379s] [ext: isaaclab_rl-0.5.0] startup +[8.382s] [ext: isaaclab_mimic-1.0.16] startup +[8.384s] [ext: isaaclab.python-2.3.2] startup +[8.388s] Simulation App Starting +2026-07-24T14:20:18Z [8,449ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:20:18Z [8,455ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:18Z [8,455ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:18Z [8,455ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:18Z [8,481ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.530s] app ready +[12.553s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54001 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54001 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-37.log +====================================================================================================== + +22:20:37 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 2 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:20:38Z [28,263ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:20:38Z [28,393ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:38Z [28,407ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:38Z [28,417ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.597110 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:20:38Z [28,430ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,436ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,833ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,833ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,836ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,837ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,837ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +2026-07-24T14:20:38Z [28,837ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55ab0b1d6970:World0.usd@ <0x55ab17a3a460>) + +[INFO]: Time taken for simulation start : 0.659016 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:20:48Z [38,577ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:20:49Z [39,074ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:49Z [39,074ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:49Z [39,074ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:49Z [39,074ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:00Z [50,212ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=2 variant=18 rng_seed=202018 piece_order=[3, 0, 1, 4, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 env0 step: 1040 / 1100 env0 step: 1041 / 1100 env0 step: 1042 / 1100 env0 step: 1043 / 1100 env0 step: 1044 / 1100 env0 step: 1045 / 1100 env0 step: 1046 / 1100 env0 step: 1047 / 1100 env0 step: 1048 / 1100 env0 step: 1049 / 1100 env0 step: 1050 / 1100 env0 step: 1051 / 1100 env0 step: 1052 / 1100 env0 step: 1053 / 1100 env0 step: 1054 / 1100 env0 step: 1055 / 1100 env0 step: 1056 / 1100 env0 step: 1057 / 1100 env0 step: 1058 / 1100 env0 step: 1059 / 1100 env0 step: 1060 / 1100 env0 step: 1061 / 1100 env0 step: 1062 / 1100 env0 step: 1063 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1063 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-08_semantic-w01-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0001-a000,split=all,layout=2,variant=18,behavior=8/2026-07-24_22-20-08_semantic-w01-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 214 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0001-a000,split=all,layout=2,variant=18,behavior=8/2026-07-24_22-20-08_semantic-w01-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 214 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0001-a000,split=all,layout=2,variant=18,behavior=8/2026-07-24_22-20-08_semantic-w01-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 214 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0001-a000,split=all,layout=2,variant=18,behavior=8/_resume_2026-07-24_22-20-08_semantic-w01-s0001-a000.json (eval completed) +2026-07-24T14:24:57Z [287,807ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:57Z [287,807ms] [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) +[288.177s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-14_semantic-w05-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-14_semantic-w05-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..72639eb28964da2b5ec3f10bb6339e397eb4bc18 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-14_semantic-w05-s0001-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-14_semantic-w05-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222017.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.170s] [ext: omni.metrics.core-0.0.3] startup +[0.170s] [ext: omni.client.lib-1.1.0] startup +[0.183s] [ext: omni.blobkey-1.1.2] startup +[0.183s] [ext: omni.stats-1.0.1] startup +[0.184s] [ext: omni.datastore-0.0.0] startup +[0.189s] [ext: omni.client-1.3.0] startup +[0.193s] [ext: omni.ujitso.default-1.0.0] startup +[0.195s] [ext: omni.hsscclient-1.1.2] startup +[0.218s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.220s] [ext: omni.assets.plugins-0.0.0] startup +[0.221s] [ext: omni.gpu_foundation-0.0.0] startup +[0.228s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:17Z [210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:17Z [210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.228s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:17Z [274ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:17Z [279ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:17Z [279ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:17Z [279ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:17Z [325ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:18Z [959ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [959ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [960ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [960ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [961ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [961ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [962ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [962ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [963ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [963ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [964ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [964ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:18Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 543877 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.776s] [ext: omni.materialx.libs-1.0.7] startup +[1.783s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.783s] [ext: omni.kit.test-2.0.1] startup +[1.822s] [ext: omni.kit.pipapi-0.0.0] startup +[1.823s] [ext: omni.usd.config-1.0.6] startup +[1.826s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.826s] [ext: omni.usd.libs-1.0.1] startup +[1.903s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.903s] [ext: omni.mdl-56.0.3] startup +[1.961s] [ext: omni.iray.libs-0.0.0] startup +[1.967s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.969s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.063s] [ext: omni.kit.telemetry-0.5.2] startup +[2.107s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:19Z [2,090ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [2,090ms] [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) +[2.110s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:19Z [2,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [2,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:19Z [2,129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [2,129ms] [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) +[2.148s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.150s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:19Z [2,134ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [2,134ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:19Z [2,135ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [2,135ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:19Z [2,136ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [2,136ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.366s] [ext: omni.ui-2.27.1] startup +[2.375s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.376s] [ext: carb.audio-0.1.0] startup +[2.402s] [ext: omni.uiaudio-1.0.0] startup +[2.403s] [ext: omni.kit.uiapp-0.0.0] startup +[2.403s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.406s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.410s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.412s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.415s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.417s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.434s] [ext: omni.usd_resolver-1.0.0] startup +[2.437s] [ext: omni.usd.core-1.5.3] startup +[2.439s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.458s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.465s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.493s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.494s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.494s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.498s] [ext: omni.graph.exec-0.9.6] startup +[2.498s] [ext: omni.kit.actions.core-1.0.0] startup +[2.500s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.501s] [ext: omni.kit.exec.core-0.13.4] startup +[2.502s] [ext: omni.kit.commands-1.4.10] startup +[2.505s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.508s] [ext: omni.activity.core-1.0.3] startup +[2.509s] [ext: omni.resourcemonitor-107.0.1] startup +[2.511s] [ext: omni.timeline-1.0.14] startup +[2.512s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.514s] [ext: usdrt.scenegraph-7.6.1] startup +[2.544s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.545s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.550s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.554s] [ext: omni.usd-1.13.10] startup +[2.575s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.585s] [ext: omni.index.libs-380600.8087.0] startup +[2.586s] [ext: omni.volume-0.5.2] startup +[2.588s] [ext: omni.ujitso.client-0.0.0] startup +[2.589s] [ext: omni.index-1.0.1] startup +[2.589s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.590s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:19Z [2,588ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.618s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.620s] [ext: omni.kit.clipboard-1.0.5] startup +[2.620s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.622s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.626s] [ext: omni.kit.menu.core-1.1.2] startup +[2.627s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.629s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.631s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.631s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.632s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.633s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.637s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.638s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.644s] [ext: omni.ui.scene-1.11.5] startup +[2.648s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.648s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.661s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.667s] [ext: omni.kit.context_menu-1.8.6] startup +[2.668s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.672s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.675s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.677s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.678s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.678s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.681s] [ext: omni.kit.material.library-2.0.7] startup +[2.685s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.688s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.689s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.704s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.708s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.712s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.713s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.716s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.720s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.720s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.722s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.723s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.724s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.725s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.730s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.733s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.733s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.735s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.736s] [ext: omni.fabric.commands-1.1.6] startup +[2.738s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.739s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.740s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.745s] [ext: omni.debugdraw-0.1.4] startup +[2.750s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.761s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.762s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.762s] [ext: omni.kvdb-107.3.26] startup +[2.763s] [ext: omni.convexdecomposition-107.3.26] startup +[2.765s] [ext: omni.physx.foundation-107.3.26] startup +[2.767s] [ext: omni.localcache-107.3.26] startup +[2.768s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.768s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.769s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.769s] [ext: omni.usdphysics-107.3.26] startup +[2.771s] [ext: omni.kit.window.file-2.0.5] startup +[2.774s] [ext: omni.physx.cooking-107.3.26] startup +[2.776s] [ext: omni.physics-107.3.26] startup +[2.779s] [ext: omni.kit.window.property-1.12.1] startup +[2.782s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.794s] [ext: omni.physx-107.3.26] startup +[2.804s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.806s] [ext: omni.kit.property.usd-4.5.12] startup +[2.816s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.817s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:20Z [2,800ms] [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. +[2.819s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.819s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.833s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.836s] [ext: omni.inspect-1.0.2] startup +[2.838s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.847s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.848s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.855s] [ext: omni.graph.core-2.184.5] startup +[2.857s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.859s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.881s] [ext: omni.physx.commands-107.3.26] startup +[2.885s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.886s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:20Z [2,873ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.891s] [ext: omni.physx.ui-107.3.26] startup +[2.918s] [ext: isaacsim.core.version-2.0.6] startup +[2.919s] [ext: omni.physics.tensors-107.3.26] startup +[2.923s] [ext: omni.warp.core-1.8.2] startup +[3.078s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.080s] [ext: isaacsim.storage.native-1.5.1] startup +[3.081s] [ext: omni.physx.tensors-107.3.26] startup +[3.091s] [ext: isaacsim.core.utils-3.5.1] startup +[3.093s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.380s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.382s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.384s] [ext: omni.kit.window.stage-2.6.1] startup +[4.388s] [ext: omni.kit.menu.create-2.0.1] startup +[4.389s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.394s] [ext: omni.kit.scripting-107.3.2] startup +[4.398s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.401s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.401s] [ext: omni.graph.tools-1.79.2] startup +[4.420s] [ext: omni.ui_query-1.1.8] startup +[4.420s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.421s] [ext: omni.graph-1.141.2] startup +[4.463s] [ext: omni.graph.action_core-1.1.7] startup +[4.467s] [ext: omni.kit.ui_test-1.3.7] startup +[4.469s] [ext: omni.kit.browser.core-2.3.13] startup +[4.472s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.476s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.479s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.483s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.494s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.498s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.509s] [ext: omni.graph.action-1.130.0] startup +[4.511s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.519s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.528s] [ext: isaacsim.gui.components-1.2.1] startup +[4.537s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.545s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.624s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.628s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.634s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.708s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:21Z [4,696ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.716s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.719s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.723s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.727s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.730s] [ext: omni.graph.image.core-0.6.1] startup +[4.732s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.733s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.735s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.736s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.739s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.740s] [ext: omni.graph.nodes-1.170.10] startup +[4.749s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.751s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.757s] [ext: omni.syntheticdata-0.6.13] startup +[4.788s] [ext: omni.videoencoding-0.1.2] startup +[4.793s] [ext: omni.warp-1.8.2] startup +[4.799s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.823s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.833s] [ext: isaacsim.core.prims-0.6.1] startup +[4.914s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.937s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:22Z [5,251ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:22Z [5,251ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:22Z [5,252ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.273s] [ext: isaacsim.core.api-4.8.0] startup +[5.292s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.337s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.353s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.363s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.372s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.384s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.388s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.398s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.404s] [ext: omni.sensors.net-1.0.0] startup +[5.408s] [ext: isaacsim.app.about-2.0.11] startup +[5.411s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.413s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.417s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.425s] [ext: omni.kit.property.audio-1.0.16] startup +[5.428s] [ext: omni.kit.property.camera-1.0.10] startup +[5.439s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.451s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.459s] [ext: omni.kit.property.light-1.0.12] startup +[5.492s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.494s] [ext: omni.kit.selection-0.1.6] startup +[5.497s] [ext: omni.kit.property.material-1.11.9] startup +[5.535s] [ext: omni.kit.property.transform-1.5.13] startup +[5.555s] [ext: omni.kit.property.render-1.2.1] startup +[5.564s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.572s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.666s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.729s] [ext: isaacsim.gui.property-1.1.3] startup +[5.802s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.816s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.936s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.046s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.143s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.155s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.171s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.189s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.201s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.217s] [ext: omni.kit.window.console-1.1.4] startup +[6.236s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.258s] [ext: omni.ocio-0.1.1] startup +[6.265s] [ext: omni.physx.demos-107.3.26] startup +[6.329s] [ext: omni.kit.property.physx-107.3.26] startup +[6.367s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.381s] [ext: omni.asset_validator.core-1.1.6] startup +[6.497s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.503s] [ext: omni.physx.vehicle-107.3.26] startup +[6.522s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.533s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.537s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.543s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.551s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.558s] [ext: omni.physx.camera-107.3.26] startup +[6.569s] [ext: omni.anim.curve.core-1.3.1] startup +[6.588s] [ext: omni.physx.cct-107.3.26] startup +[6.613s] [ext: omni.physx.graph-107.3.26] startup +[6.638s] [ext: omni.physx.supportui-107.3.26] startup +[6.663s] [ext: omni.physx.telemetry-107.3.26] startup +[6.668s] [ext: isaaclab-0.54.3] startup +[6.882s] [ext: isaaclab_contrib-0.0.2] startup +[6.884s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.887s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.892s] [ext: semantics.schema.property-2.0.1] startup +[6.895s] [ext: omni.physx.bundle-107.3.26] startup +[6.896s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.901s] [ext: isaaclab_assets-0.2.4] startup +[7.204s] [ext: isaaclab_tasks-0.11.14] startup +[7.359s] [ext: omni.kit.menu.common-2.0.1] startup +[7.361s] [ext: isaaclab_rl-0.5.0] startup +[7.363s] [ext: isaaclab_mimic-1.0.16] startup +[7.365s] [ext: isaaclab.python-2.3.2] startup +[7.367s] Simulation App Starting +2026-07-24T14:20:24Z [7,412ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:20:24Z [7,416ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:24Z [7,416ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:24Z [7,416ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:24Z [7,439ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.481s] app ready +[12.445s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-44.log +====================================================================================================== + +22:20:44 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 4 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:20:45Z [28,074ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:20:45Z [28,202ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:45Z [28,215ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:45Z [28,224ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.587817 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:20:45Z [28,236ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,241ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,610ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,610ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,612ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,612ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,613ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +2026-07-24T14:20:45Z [28,613ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5599975d4020:World0.usd@ <0x5599a3e5abd0>) + +[INFO]: Time taken for simulation start : 0.606390 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:20:57Z [40,348ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:21:04Z [47,238ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:04Z [47,238ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:04Z [47,238ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:04Z [47,238ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:09Z [52,362ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=4 variant=22 rng_seed=4022 piece_order=[4, 3, 2, 1, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_4 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=4 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 env0 step: 461 / 1100 env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 env0 step: 465 / 1100 env0 step: 466 / 1100 env0 step: 467 / 1100 env0 step: 468 / 1100 [curobo-ttt] opponent=2/4 complete placed=4 empty=[0, 1, 5, 6, 8] +[curobo-ttt] semantic move=3/5 piece=player_piece2 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 469 / 1100 env0 step: 470 / 1100 env0 step: 471 / 1100 env0 step: 472 / 1100 env0 step: 473 / 1100 env0 step: 474 / 1100 env0 step: 475 / 1100 env0 step: 476 / 1100 env0 step: 477 / 1100 env0 step: 478 / 1100 env0 step: 479 / 1100 env0 step: 480 / 1100 env0 step: 481 / 1100 env0 step: 482 / 1100 env0 step: 483 / 1100 env0 step: 484 / 1100 env0 step: 485 / 1100 env0 step: 486 / 1100 env0 step: 487 / 1100 env0 step: 488 / 1100 env0 step: 489 / 1100 env0 step: 490 / 1100 env0 step: 491 / 1100 env0 step: 492 / 1100 env0 step: 493 / 1100 env0 step: 494 / 1100 env0 step: 495 / 1100 env0 step: 496 / 1100 env0 step: 497 / 1100 env0 step: 498 / 1100 env0 step: 499 / 1100 env0 step: 500 / 1100 env0 step: 501 / 1100 env0 step: 502 / 1100 env0 step: 503 / 1100 env0 step: 504 / 1100 env0 step: 505 / 1100 env0 step: 506 / 1100 env0 step: 507 / 1100 env0 step: 508 / 1100 env0 step: 509 / 1100 env0 step: 510 / 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env0 step: 647 / 1100 env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 step: 682 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[1, 5, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece1 grasp=far_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=5 +env0 step: 683 / 1100 env0 step: 684 / 1100 env0 step: 685 / 1100 env0 step: 686 / 1100 env0 step: 687 / 1100 env0 step: 688 / 1100 env0 step: 689 / 1100 env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 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/ 1100 env0 step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[8] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=8 +env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1024 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-14_semantic-w05-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0001-a000,split=all,layout=4,variant=22,behavior=12/2026-07-24_22-20-14_semantic-w05-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0001-a000,split=all,layout=4,variant=22,behavior=12/2026-07-24_22-20-14_semantic-w05-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0001-a000,split=all,layout=4,variant=22,behavior=12/2026-07-24_22-20-14_semantic-w05-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0001-a000,split=all,layout=4,variant=22,behavior=12/_resume_2026-07-24_22-20-14_semantic-w05-s0001-a000.json (eval completed) +2026-07-24T14:24:41Z [264,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:41Z [264,235ms] [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) +[264.637s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-17_semantic-w03-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-17_semantic-w03-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..9bea4daa6c6e4f7fc38e03409f06562aaefd32a8 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-17_semantic-w03-s0001-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-17_semantic-w03-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222019.log +[0.049s] [ext: omni.kit.async_engine-0.0.3] startup +[0.164s] [ext: omni.metrics.core-0.0.3] startup +[0.164s] [ext: omni.client.lib-1.1.0] startup +[0.177s] [ext: omni.blobkey-1.1.2] startup +[0.177s] [ext: omni.stats-1.0.1] startup +[0.178s] [ext: omni.datastore-0.0.0] startup +[0.183s] [ext: omni.client-1.3.0] startup +[0.188s] [ext: omni.ujitso.default-1.0.0] startup +[0.189s] [ext: omni.hsscclient-1.1.2] startup +[0.211s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.213s] [ext: omni.assets.plugins-0.0.0] startup +[0.214s] [ext: omni.gpu_foundation-0.0.0] startup +[0.221s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:19Z [202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:19Z [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) +[0.221s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:19Z [274ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:19Z [276ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:19Z [276ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:19Z [276ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:20Z [337ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:20Z [993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,002ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,002ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 540815 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.902s] [ext: omni.materialx.libs-1.0.7] startup +[1.909s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.910s] [ext: omni.kit.test-2.0.1] startup +[1.948s] [ext: omni.kit.pipapi-0.0.0] startup +[1.948s] [ext: omni.usd.config-1.0.6] startup +[1.951s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.951s] [ext: omni.usd.libs-1.0.1] startup +[2.029s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.030s] [ext: omni.mdl-56.0.3] startup +[2.086s] [ext: omni.iray.libs-0.0.0] startup +[2.092s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.094s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.182s] [ext: omni.kit.telemetry-0.5.2] startup +[2.216s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:21Z [2,198ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:21Z [2,198ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.219s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:21Z [2,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:21Z [2,215ms] [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) +2026-07-24T14:20:21Z [2,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:21Z [2,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.243s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.245s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:21Z [2,228ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:21Z [2,228ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:21Z [2,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:21Z [2,229ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:21Z [2,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:21Z [2,230ms] [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) +[2.361s] [ext: omni.ui-2.27.1] startup +[2.372s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.373s] [ext: carb.audio-0.1.0] startup +[2.402s] [ext: omni.uiaudio-1.0.0] startup +[2.403s] [ext: omni.kit.uiapp-0.0.0] startup +[2.403s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.406s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.413s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.415s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.419s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.421s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.442s] [ext: omni.usd_resolver-1.0.0] startup +[2.446s] [ext: omni.usd.core-1.5.3] startup +[2.449s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.468s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.475s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.503s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.504s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.505s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.508s] [ext: omni.graph.exec-0.9.6] startup +[2.508s] [ext: omni.kit.actions.core-1.0.0] startup +[2.510s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.511s] [ext: omni.kit.exec.core-0.13.4] startup +[2.512s] [ext: omni.kit.commands-1.4.10] startup +[2.515s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.518s] [ext: omni.activity.core-1.0.3] startup +[2.519s] [ext: omni.resourcemonitor-107.0.1] startup +[2.521s] [ext: omni.timeline-1.0.14] startup +[2.522s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.524s] [ext: usdrt.scenegraph-7.6.1] startup +[2.554s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.556s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.561s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.565s] [ext: omni.usd-1.13.10] startup +[2.585s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.596s] [ext: omni.index.libs-380600.8087.0] startup +[2.596s] [ext: omni.volume-0.5.2] startup +[2.598s] [ext: omni.ujitso.client-0.0.0] startup +[2.598s] [ext: omni.index-1.0.1] startup +[2.599s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.600s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:22Z [2,597ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.629s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.630s] [ext: omni.kit.clipboard-1.0.5] startup +[2.631s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.633s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.637s] [ext: omni.kit.menu.core-1.1.2] startup +[2.637s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.640s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.641s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.641s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.642s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.643s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.647s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.647s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.654s] [ext: omni.ui.scene-1.11.5] startup +[2.657s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.658s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.669s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.675s] [ext: omni.kit.context_menu-1.8.6] startup +[2.676s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.679s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.682s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.684s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.685s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.685s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.688s] [ext: omni.kit.material.library-2.0.7] startup +[2.692s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.693s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.695s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.707s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.711s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.714s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.715s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.718s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.721s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.722s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.724s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.725s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.725s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.726s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.731s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.734s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.734s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.736s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.737s] [ext: omni.fabric.commands-1.1.6] startup +[2.739s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.739s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.740s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.741s] [ext: omni.debugdraw-0.1.4] startup +[2.744s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.752s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.753s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.753s] [ext: omni.kvdb-107.3.26] startup +[2.754s] [ext: omni.convexdecomposition-107.3.26] startup +[2.757s] [ext: omni.physx.foundation-107.3.26] startup +[2.758s] [ext: omni.localcache-107.3.26] startup +[2.759s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.759s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.760s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.760s] [ext: omni.usdphysics-107.3.26] startup +[2.762s] [ext: omni.kit.window.file-2.0.5] startup +[2.764s] [ext: omni.physx.cooking-107.3.26] startup +[2.767s] [ext: omni.physics-107.3.26] startup +[2.769s] [ext: omni.kit.window.property-1.12.1] startup +[2.771s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.780s] [ext: omni.physx-107.3.26] startup +[2.788s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.790s] [ext: omni.kit.property.usd-4.5.12] startup +[2.798s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.799s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:22Z [2,781ms] [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. +[2.800s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.801s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.811s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.815s] [ext: omni.inspect-1.0.2] startup +[2.816s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.824s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.825s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.831s] [ext: omni.graph.core-2.184.5] startup +[2.833s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.835s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.856s] [ext: omni.physx.commands-107.3.26] startup +[2.859s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.860s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:22Z [2,845ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.865s] [ext: omni.physx.ui-107.3.26] startup +[2.890s] [ext: isaacsim.core.version-2.0.6] startup +[2.890s] [ext: omni.physics.tensors-107.3.26] startup +[2.894s] [ext: omni.warp.core-1.8.2] startup +[3.049s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.051s] [ext: isaacsim.storage.native-1.5.1] startup +[3.052s] [ext: omni.physx.tensors-107.3.26] startup +[3.056s] [ext: isaacsim.core.utils-3.5.1] startup +[3.059s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.320s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.320s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.322s] [ext: omni.kit.window.stage-2.6.1] startup +[4.325s] [ext: omni.kit.menu.create-2.0.1] startup +[4.326s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.331s] [ext: omni.kit.scripting-107.3.2] startup +[4.334s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.336s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.337s] [ext: omni.graph.tools-1.79.2] startup +[4.354s] [ext: omni.ui_query-1.1.8] startup +[4.354s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.355s] [ext: omni.graph-1.141.2] startup +[4.388s] [ext: omni.graph.action_core-1.1.7] startup +[4.389s] [ext: omni.kit.ui_test-1.3.7] startup +[4.392s] [ext: omni.kit.browser.core-2.3.13] startup +[4.395s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.398s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.401s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.404s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.417s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.420s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.430s] [ext: omni.graph.action-1.130.0] startup +[4.433s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.436s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.443s] [ext: isaacsim.gui.components-1.2.1] startup +[4.450s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.457s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.863s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.867s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.872s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.929s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:24Z [4,914ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.935s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.936s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.939s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.944s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.946s] [ext: omni.graph.image.core-0.6.1] startup +[4.947s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.948s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.950s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.952s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.954s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.955s] [ext: omni.graph.nodes-1.170.10] startup +[4.963s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.966s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.969s] [ext: omni.syntheticdata-0.6.13] startup +[4.999s] [ext: omni.videoencoding-0.1.2] startup +[5.001s] [ext: omni.warp-1.8.2] startup +[5.006s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.022s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.026s] [ext: isaacsim.core.prims-0.6.1] startup +[5.062s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.081s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:24Z [5,292ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:24Z [5,292ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:24Z [5,294ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.319s] [ext: isaacsim.core.api-4.8.0] startup +[5.338s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.375s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.394s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.400s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.407s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.419s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.442s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.458s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.464s] [ext: omni.sensors.net-1.0.0] startup +[5.469s] [ext: isaacsim.app.about-2.0.11] startup +[5.478s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.481s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.486s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.496s] [ext: omni.kit.property.audio-1.0.16] startup +[5.513s] [ext: omni.kit.property.camera-1.0.10] startup +[5.528s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.549s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.562s] [ext: omni.kit.property.light-1.0.12] startup +[5.588s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.591s] [ext: omni.kit.selection-0.1.6] startup +[5.604s] [ext: omni.kit.property.material-1.11.9] startup +[5.644s] [ext: omni.kit.property.transform-1.5.13] startup +[5.665s] [ext: omni.kit.property.render-1.2.1] startup +[5.683s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.693s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.747s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.845s] [ext: isaacsim.gui.property-1.1.3] startup +[5.868s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.892s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.930s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.021s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.056s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.083s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.111s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.127s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.135s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.164s] [ext: omni.kit.window.console-1.1.4] startup +[6.181s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.197s] [ext: omni.ocio-0.1.1] startup +[6.201s] [ext: omni.physx.demos-107.3.26] startup +[6.254s] [ext: omni.kit.property.physx-107.3.26] startup +[6.297s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.303s] [ext: omni.asset_validator.core-1.1.6] startup +[6.400s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.408s] [ext: omni.physx.vehicle-107.3.26] startup +[6.434s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.451s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.458s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.467s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.481s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.489s] [ext: omni.physx.camera-107.3.26] startup +[6.508s] [ext: omni.anim.curve.core-1.3.1] startup +[6.527s] [ext: omni.physx.cct-107.3.26] startup +[6.546s] [ext: omni.physx.graph-107.3.26] startup +[6.575s] [ext: omni.physx.supportui-107.3.26] startup +[6.617s] [ext: omni.physx.telemetry-107.3.26] startup +[6.626s] [ext: isaaclab-0.54.3] startup +[6.912s] [ext: isaaclab_contrib-0.0.2] startup +[6.915s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.917s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.922s] [ext: semantics.schema.property-2.0.1] startup +[6.926s] [ext: omni.physx.bundle-107.3.26] startup +[6.929s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.934s] [ext: isaaclab_assets-0.2.4] startup +[7.203s] [ext: isaaclab_tasks-0.11.14] startup +[7.359s] [ext: omni.kit.menu.common-2.0.1] startup +[7.363s] [ext: isaaclab_rl-0.5.0] startup +[7.366s] [ext: isaaclab_mimic-1.0.16] startup +[7.368s] [ext: isaaclab.python-2.3.2] startup +[7.371s] Simulation App Starting +2026-07-24T14:20:27Z [7,420ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:20:27Z [7,424ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:27Z [7,424ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:27Z [7,424ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:27Z [7,447ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +2026-07-24T14:20:27Z [7,468ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-07-24T14:20:27Z [7,468ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T14:20:27Z [7,469ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +[7.499s] app ready +[11.560s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-46.log +====================================================================================================== + +22:20:46 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 3 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:20:46Z [26,946ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:20:46Z [27,075ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:46Z [27,089ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:46Z [27,100ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.587205 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:20:46Z [27,112ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:46Z [27,118ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:47Z [27,509ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:47Z [27,509ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:47Z [27,511ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:47Z [27,512ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:47Z [27,512ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +2026-07-24T14:20:47Z [27,513ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556dde791840:World0.usd@ <0x556deafe1260>) + +[INFO]: Time taken for simulation start : 0.646059 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:20:57Z [38,065ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:20:58Z [38,319ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:58Z [38,319ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:58Z [38,319ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:20:58Z [38,319ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:09Z [49,890ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=3 variant=20 rng_seed=103020 piece_order=[1, 4, 0, 3, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=6 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece2 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=1 +env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 env0 step: 1040 / 1100 env0 step: 1041 / 1100 env0 step: 1042 / 1100 env0 step: 1043 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1043 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-17_semantic-w03-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0001-a000,split=all,layout=3,variant=20,behavior=10/2026-07-24_22-20-17_semantic-w03-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 210 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0001-a000,split=all,layout=3,variant=20,behavior=10/2026-07-24_22-20-17_semantic-w03-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 210 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0001-a000,split=all,layout=3,variant=20,behavior=10/2026-07-24_22-20-17_semantic-w03-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 210 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0001-a000,split=all,layout=3,variant=20,behavior=10/_resume_2026-07-24_22-20-17_semantic-w03-s0001-a000.json (eval completed) +2026-07-24T14:24:57Z [278,027ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:57Z [278,027ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[278.382s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-25_semantic-w06-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-25_semantic-w06-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..4e17eec7c8a82c7d0e69f64e8c3cc3c5386bcf45 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-25_semantic-w06-s0001-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-25_semantic-w06-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222027.log +[0.054s] [ext: omni.kit.async_engine-0.0.3] startup +[0.169s] [ext: omni.metrics.core-0.0.3] startup +[0.169s] [ext: omni.client.lib-1.1.0] startup +[0.182s] [ext: omni.blobkey-1.1.2] startup +[0.182s] [ext: omni.stats-1.0.1] startup +[0.182s] [ext: omni.datastore-0.0.0] startup +[0.188s] [ext: omni.client-1.3.0] startup +[0.191s] [ext: omni.ujitso.default-1.0.0] startup +[0.193s] [ext: omni.hsscclient-1.1.2] startup +[0.214s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.216s] [ext: omni.assets.plugins-0.0.0] startup +[0.217s] [ext: omni.gpu_foundation-0.0.0] startup +[0.223s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:27Z [204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:27Z [204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.224s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:27Z [266ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:27Z [269ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:27Z [269ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:27Z [269ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:27Z [324ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:28Z [1,227ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,227ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,228ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,228ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,229ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,229ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,231ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,231ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,232ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,232ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:28Z [1,233ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 540328 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.630s] [ext: omni.materialx.libs-1.0.7] startup +[2.636s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.637s] [ext: omni.kit.test-2.0.1] startup +[2.675s] [ext: omni.kit.pipapi-0.0.0] startup +[2.675s] [ext: omni.usd.config-1.0.6] startup +[2.678s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.679s] [ext: omni.usd.libs-1.0.1] startup +[2.755s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.755s] [ext: omni.mdl-56.0.3] startup +[2.832s] [ext: omni.iray.libs-0.0.0] startup +[2.838s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.841s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.933s] [ext: omni.kit.telemetry-0.5.2] startup +[2.972s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:30Z [2,953ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:30Z [2,953ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.975s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:30Z [2,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:30Z [2,969ms] [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) +2026-07-24T14:20:30Z [2,976ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:30Z [2,976ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.997s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.999s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:30Z [2,982ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:30Z [2,982ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:30Z [2,983ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:30Z [2,983ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:30Z [2,983ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:30Z [2,983ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.089s] [ext: omni.ui-2.27.1] startup +[3.097s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.098s] [ext: carb.audio-0.1.0] startup +[3.123s] [ext: omni.uiaudio-1.0.0] startup +[3.124s] [ext: omni.kit.uiapp-0.0.0] startup +[3.124s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.126s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.131s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.133s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.135s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.138s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.154s] [ext: omni.usd_resolver-1.0.0] startup +[3.157s] [ext: omni.usd.core-1.5.3] startup +[3.159s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.177s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.184s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.211s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.212s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.212s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.216s] [ext: omni.graph.exec-0.9.6] startup +[3.216s] [ext: omni.kit.actions.core-1.0.0] startup +[3.218s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.218s] [ext: omni.kit.exec.core-0.13.4] startup +[3.219s] [ext: omni.kit.commands-1.4.10] startup +[3.222s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.225s] [ext: omni.activity.core-1.0.3] startup +[3.226s] [ext: omni.resourcemonitor-107.0.1] startup +[3.228s] [ext: omni.timeline-1.0.14] startup +[3.229s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.231s] [ext: usdrt.scenegraph-7.6.1] startup +[3.260s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.262s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.267s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.271s] [ext: omni.usd-1.13.10] startup +[3.291s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.301s] [ext: omni.index.libs-380600.8087.0] startup +[3.301s] [ext: omni.volume-0.5.2] startup +[3.303s] [ext: omni.ujitso.client-0.0.0] startup +[3.303s] [ext: omni.index-1.0.1] startup +[3.304s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.304s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:30Z [3,302ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.334s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.336s] [ext: omni.kit.clipboard-1.0.5] startup +[3.337s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.339s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.343s] [ext: omni.kit.menu.core-1.1.2] startup +[3.344s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.346s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.347s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.348s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.349s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.349s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.353s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.354s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.361s] [ext: omni.ui.scene-1.11.5] startup +[3.364s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.365s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.376s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.383s] [ext: omni.kit.context_menu-1.8.6] startup +[3.385s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.389s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.391s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.393s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.394s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.394s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.397s] [ext: omni.kit.material.library-2.0.7] startup +[3.401s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.403s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.405s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.417s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.421s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.425s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.425s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.428s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.432s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.432s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.434s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.435s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.436s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.437s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.442s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.444s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.445s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.446s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.447s] [ext: omni.fabric.commands-1.1.6] startup +[3.450s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.450s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.451s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.452s] [ext: omni.debugdraw-0.1.4] startup +[3.455s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.463s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.464s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.464s] [ext: omni.kvdb-107.3.26] startup +[3.465s] [ext: omni.convexdecomposition-107.3.26] startup +[3.467s] [ext: omni.physx.foundation-107.3.26] startup +[3.469s] [ext: omni.localcache-107.3.26] startup +[3.470s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.470s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.471s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.471s] [ext: omni.usdphysics-107.3.26] startup +[3.473s] [ext: omni.kit.window.file-2.0.5] startup +[3.475s] [ext: omni.physx.cooking-107.3.26] startup +[3.477s] [ext: omni.physics-107.3.26] startup +[3.480s] [ext: omni.kit.window.property-1.12.1] startup +[3.482s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.491s] [ext: omni.physx-107.3.26] startup +[3.499s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.501s] [ext: omni.kit.property.usd-4.5.12] startup +[3.509s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.510s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:31Z [3,491ms] [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. +[3.511s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.512s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.522s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.525s] [ext: omni.inspect-1.0.2] startup +[3.526s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.535s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.536s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.541s] [ext: omni.graph.core-2.184.5] startup +[3.544s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.545s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.566s] [ext: omni.physx.commands-107.3.26] startup +[3.569s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.570s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:31Z [3,554ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.574s] [ext: omni.physx.ui-107.3.26] startup +[3.599s] [ext: isaacsim.core.version-2.0.6] startup +[3.600s] [ext: omni.physics.tensors-107.3.26] startup +[3.604s] [ext: omni.warp.core-1.8.2] startup +[3.757s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.759s] [ext: isaacsim.storage.native-1.5.1] startup +[3.760s] [ext: omni.physx.tensors-107.3.26] startup +[3.765s] [ext: isaacsim.core.utils-3.5.1] startup +[3.767s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.985s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.986s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.987s] [ext: omni.kit.window.stage-2.6.1] startup +[4.991s] [ext: omni.kit.menu.create-2.0.1] startup +[4.992s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.997s] [ext: omni.kit.scripting-107.3.2] startup +[5.000s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.003s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.003s] [ext: omni.graph.tools-1.79.2] startup +[5.021s] [ext: omni.ui_query-1.1.8] startup +[5.022s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.022s] [ext: omni.graph-1.141.2] startup +[5.057s] [ext: omni.graph.action_core-1.1.7] startup +[5.058s] [ext: omni.kit.ui_test-1.3.7] startup +[5.062s] [ext: omni.kit.browser.core-2.3.13] startup +[5.066s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.069s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.073s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.077s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.088s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.091s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.102s] [ext: omni.graph.action-1.130.0] startup +[5.104s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.108s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.119s] [ext: isaacsim.gui.components-1.2.1] startup +[5.126s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.131s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.206s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.209s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.216s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.298s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:32Z [5,285ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.307s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.307s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.310s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.317s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.320s] [ext: omni.graph.image.core-0.6.1] startup +[5.322s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.323s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.325s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.329s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.331s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.333s] [ext: omni.graph.nodes-1.170.10] startup +[5.342s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.347s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.352s] [ext: omni.syntheticdata-0.6.13] startup +[5.379s] [ext: omni.videoencoding-0.1.2] startup +[5.384s] [ext: omni.warp-1.8.2] startup +[5.390s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.410s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.412s] [ext: isaacsim.core.prims-0.6.1] startup +[5.444s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.452s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:33Z [5,656ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:33Z [5,656ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:33Z [5,659ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.682s] [ext: isaacsim.core.api-4.8.0] startup +[5.698s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.756s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.772s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.784s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.793s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.805s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.810s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.825s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.831s] [ext: omni.sensors.net-1.0.0] startup +[5.836s] [ext: isaacsim.app.about-2.0.11] startup +[5.846s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.847s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.850s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.858s] [ext: omni.kit.property.audio-1.0.16] startup +[5.873s] [ext: omni.kit.property.camera-1.0.10] startup +[5.885s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.898s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.909s] [ext: omni.kit.property.light-1.0.12] startup +[5.940s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.947s] [ext: omni.kit.selection-0.1.6] startup +[5.981s] [ext: omni.kit.property.material-1.11.9] startup +[6.015s] [ext: omni.kit.property.transform-1.5.13] startup +[6.031s] [ext: omni.kit.property.render-1.2.1] startup +[6.042s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.050s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.071s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.096s] [ext: isaacsim.gui.property-1.1.3] startup +[6.102s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.109s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.131s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.156s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.183s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.192s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.231s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.238s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.248s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.261s] [ext: omni.kit.window.console-1.1.4] startup +[6.280s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.299s] [ext: omni.ocio-0.1.1] startup +[6.309s] [ext: omni.physx.demos-107.3.26] startup +[6.409s] [ext: omni.kit.property.physx-107.3.26] startup +[6.458s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.493s] [ext: omni.asset_validator.core-1.1.6] startup +[6.793s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.857s] [ext: omni.physx.vehicle-107.3.26] startup +[7.256s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.391s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.404s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.424s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.452s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.469s] [ext: omni.physx.camera-107.3.26] startup +[7.507s] [ext: omni.anim.curve.core-1.3.1] startup +[7.554s] [ext: omni.physx.cct-107.3.26] startup +[7.597s] [ext: omni.physx.graph-107.3.26] startup +[7.652s] [ext: omni.physx.supportui-107.3.26] startup +[7.693s] [ext: omni.physx.telemetry-107.3.26] startup +[7.702s] [ext: isaaclab-0.54.3] startup +[8.000s] [ext: isaaclab_contrib-0.0.2] startup +[8.002s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.005s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.010s] [ext: semantics.schema.property-2.0.1] startup +[8.014s] [ext: omni.physx.bundle-107.3.26] startup +[8.017s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.023s] [ext: isaaclab_assets-0.2.4] startup +[8.314s] [ext: isaaclab_tasks-0.11.14] startup +[8.475s] [ext: omni.kit.menu.common-2.0.1] startup +[8.477s] [ext: isaaclab_rl-0.5.0] startup +[8.480s] [ext: isaaclab_mimic-1.0.16] startup +[8.480s] [ext: isaaclab.python-2.3.2] startup +[8.484s] Simulation App Starting +2026-07-24T14:20:36Z [8,537ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:20:36Z [8,541ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:36Z [8,541ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:36Z [8,541ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:36Z [8,566ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T14:20:36Z [8,590ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T14:20:36Z [8,590ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T14:20:36Z [8,590ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[8.623s] app ready +[12.403s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-55.log +====================================================================================================== + +22:20:55 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 4 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:20:55Z [28,025ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:20:55Z [28,112ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:55Z [28,124ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:20:55Z [28,133ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.525506 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:20:55Z [28,145ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:55Z [28,150ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:56Z [28,600ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:56Z [28,600ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:56Z [28,603ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:56Z [28,604ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:56Z [28,604ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +2026-07-24T14:20:56Z [28,604ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56380522dbc0:World0.usd@ <0x563811a44580>) + +[INFO]: Time taken for simulation start : 0.711171 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:21:06Z [38,918ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:21:11Z [44,029ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:11Z [44,029ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:11Z [44,029ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:11Z [44,029ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:18Z [51,089ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=4 variant=23 rng_seed=104023 piece_order=[4, 2, 3, 0, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_7 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=7 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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piece=player_piece2 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 257 / 1100 env0 step: 258 / 1100 env0 step: 259 / 1100 env0 step: 260 / 1100 env0 step: 261 / 1100 env0 step: 262 / 1100 env0 step: 263 / 1100 env0 step: 264 / 1100 env0 step: 265 / 1100 env0 step: 266 / 1100 env0 step: 267 / 1100 env0 step: 268 / 1100 env0 step: 269 / 1100 env0 step: 270 / 1100 env0 step: 271 / 1100 env0 step: 272 / 1100 env0 step: 273 / 1100 env0 step: 274 / 1100 env0 step: 275 / 1100 env0 step: 276 / 1100 env0 step: 277 / 1100 env0 step: 278 / 1100 env0 step: 279 / 1100 env0 step: 280 / 1100 env0 step: 281 / 1100 env0 step: 282 / 1100 env0 step: 283 / 1100 env0 step: 284 / 1100 env0 step: 285 / 1100 env0 step: 286 / 1100 env0 step: 287 / 1100 env0 step: 288 / 1100 env0 step: 289 / 1100 env0 step: 290 / 1100 env0 step: 291 / 1100 env0 step: 292 / 1100 env0 step: 293 / 1100 env0 step: 294 / 1100 env0 step: 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693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[1, 5, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece0 grasp=left_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=1 +env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 step: 727 / 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[8] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=8 +env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1023 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-25_semantic-w06-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0001-a000,split=all,layout=4,variant=23,behavior=13/2026-07-24_22-20-25_semantic-w06-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0001-a000,split=all,layout=4,variant=23,behavior=13/2026-07-24_22-20-25_semantic-w06-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0001-a000,split=all,layout=4,variant=23,behavior=13/2026-07-24_22-20-25_semantic-w06-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0001-a000,split=all,layout=4,variant=23,behavior=13/_resume_2026-07-24_22-20-25_semantic-w06-s0001-a000.json (eval completed) +2026-07-24T14:24:49Z [261,949ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:49Z [261,949ms] [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) +[262.283s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-30_semantic-w04-s0001-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-30_semantic-w04-s0001-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..595b5b949591ee1b6f2d8f5e30b1d257c5e95c00 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-20-30_semantic-w04-s0001-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54004 +[INFO] device_id = 4 → CUDA_VISIBLE_DEVICES=4 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-20-30_semantic-w04-s0001-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222032.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.168s] [ext: omni.metrics.core-0.0.3] startup +[0.168s] [ext: omni.client.lib-1.1.0] startup +[0.180s] [ext: omni.blobkey-1.1.2] startup +[0.180s] [ext: omni.stats-1.0.1] startup +[0.181s] [ext: omni.datastore-0.0.0] startup +[0.187s] [ext: omni.client-1.3.0] startup +[0.192s] [ext: omni.ujitso.default-1.0.0] startup +[0.193s] [ext: omni.hsscclient-1.1.2] startup +[0.213s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.215s] [ext: omni.assets.plugins-0.0.0] startup +[0.216s] [ext: omni.gpu_foundation-0.0.0] startup +[0.222s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:20:32Z [203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:32Z [203ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.223s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:20:32Z [270ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:20:32Z [271ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:20:32Z [271ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:20:32Z [271ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:20:32Z [330ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:20:33Z [970ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [970ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [971ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [971ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [973ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [973ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [974ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [974ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:20:33Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 541625 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.924s] [ext: omni.materialx.libs-1.0.7] startup +[1.931s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.932s] [ext: omni.kit.test-2.0.1] startup +[1.971s] [ext: omni.kit.pipapi-0.0.0] startup +[1.972s] [ext: omni.usd.config-1.0.6] startup +[1.974s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.975s] [ext: omni.usd.libs-1.0.1] startup +[2.052s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.052s] [ext: omni.mdl-56.0.3] startup +[2.110s] [ext: omni.iray.libs-0.0.0] startup +[2.115s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.118s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.206s] [ext: omni.kit.telemetry-0.5.2] startup +[2.244s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:20:34Z [2,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:34Z [2,226ms] [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) +[2.248s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:20:34Z [2,244ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:34Z [2,244ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:34Z [2,251ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:34Z [2,251ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.272s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.274s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:20:34Z [2,257ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:34Z [2,257ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:34Z [2,258ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:34Z [2,258ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:20:34Z [2,259ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:20:34Z [2,259ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.366s] [ext: omni.ui-2.27.1] startup +[2.377s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.378s] [ext: carb.audio-0.1.0] startup +[2.400s] [ext: omni.uiaudio-1.0.0] startup +[2.401s] [ext: omni.kit.uiapp-0.0.0] startup +[2.401s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.404s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.412s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.414s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.417s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.420s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.442s] [ext: omni.usd_resolver-1.0.0] startup +[2.445s] [ext: omni.usd.core-1.5.3] startup +[2.447s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.466s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.473s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.502s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.502s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.503s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.506s] [ext: omni.graph.exec-0.9.6] startup +[2.507s] [ext: omni.kit.actions.core-1.0.0] startup +[2.509s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.509s] [ext: omni.kit.exec.core-0.13.4] startup +[2.511s] [ext: omni.kit.commands-1.4.10] startup +[2.513s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.517s] [ext: omni.activity.core-1.0.3] startup +[2.518s] [ext: omni.resourcemonitor-107.0.1] startup +[2.519s] [ext: omni.timeline-1.0.14] startup +[2.521s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.522s] [ext: usdrt.scenegraph-7.6.1] startup +[2.553s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.554s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.559s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.563s] [ext: omni.usd-1.13.10] startup +[2.583s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.594s] [ext: omni.index.libs-380600.8087.0] startup +[2.594s] [ext: omni.volume-0.5.2] startup +[2.596s] [ext: omni.ujitso.client-0.0.0] startup +[2.597s] [ext: omni.index-1.0.1] startup +[2.597s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.598s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:20:35Z [2,595ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.629s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.631s] [ext: omni.kit.clipboard-1.0.5] startup +[2.631s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.633s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.637s] [ext: omni.kit.menu.core-1.1.2] startup +[2.638s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.640s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.641s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.642s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.643s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.644s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.648s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.648s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.655s] [ext: omni.ui.scene-1.11.5] startup +[2.658s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.659s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.670s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.676s] [ext: omni.kit.context_menu-1.8.6] startup +[2.678s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.681s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.684s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.686s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.687s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.687s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.690s] [ext: omni.kit.material.library-2.0.7] startup +[2.694s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.696s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.698s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.710s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.714s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.718s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.719s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.722s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.725s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.726s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.728s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.729s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.730s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.731s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.736s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.738s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.739s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.740s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.741s] [ext: omni.fabric.commands-1.1.6] startup +[2.744s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.744s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.745s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.746s] [ext: omni.debugdraw-0.1.4] startup +[2.749s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.758s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.758s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.758s] [ext: omni.kvdb-107.3.26] startup +[2.760s] [ext: omni.convexdecomposition-107.3.26] startup +[2.762s] [ext: omni.physx.foundation-107.3.26] startup +[2.763s] [ext: omni.localcache-107.3.26] startup +[2.764s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.765s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.765s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.766s] [ext: omni.usdphysics-107.3.26] startup +[2.768s] [ext: omni.kit.window.file-2.0.5] startup +[2.770s] [ext: omni.physx.cooking-107.3.26] startup +[2.772s] [ext: omni.physics-107.3.26] startup +[2.775s] [ext: omni.kit.window.property-1.12.1] startup +[2.777s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.787s] [ext: omni.physx-107.3.26] startup +[2.795s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.797s] [ext: omni.kit.property.usd-4.5.12] startup +[2.805s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.806s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:20:35Z [2,788ms] [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. +[2.808s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.808s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.820s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.823s] [ext: omni.inspect-1.0.2] startup +[2.824s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.834s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.835s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.840s] [ext: omni.graph.core-2.184.5] startup +[2.843s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.844s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.868s] [ext: omni.physx.commands-107.3.26] startup +[2.872s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.873s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:20:35Z [2,858ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.878s] [ext: omni.physx.ui-107.3.26] startup +[2.906s] [ext: isaacsim.core.version-2.0.6] startup +[2.906s] [ext: omni.physics.tensors-107.3.26] startup +[2.911s] [ext: omni.warp.core-1.8.2] startup +[3.069s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.071s] [ext: isaacsim.storage.native-1.5.1] startup +[3.072s] [ext: omni.physx.tensors-107.3.26] startup +[3.077s] [ext: isaacsim.core.utils-3.5.1] startup +[3.079s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.342s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.343s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.345s] [ext: omni.kit.window.stage-2.6.1] startup +[4.352s] [ext: omni.kit.menu.create-2.0.1] startup +[4.354s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.359s] [ext: omni.kit.scripting-107.3.2] startup +[4.363s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.367s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.367s] [ext: omni.graph.tools-1.79.2] startup +[4.386s] [ext: omni.ui_query-1.1.8] startup +[4.387s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.387s] [ext: omni.graph-1.141.2] startup +[4.428s] [ext: omni.graph.action_core-1.1.7] startup +[4.430s] [ext: omni.kit.ui_test-1.3.7] startup +[4.433s] [ext: omni.kit.browser.core-2.3.13] startup +[4.437s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.440s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.444s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.447s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.460s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.464s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.476s] [ext: omni.graph.action-1.130.0] startup +[4.480s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.483s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.493s] [ext: isaacsim.gui.components-1.2.1] startup +[4.506s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.519s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.656s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.661s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.672s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.757s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:20:37Z [4,745ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.767s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.770s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.773s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.780s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.783s] [ext: omni.graph.image.core-0.6.1] startup +[4.786s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.787s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.789s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.794s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.796s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.799s] [ext: omni.graph.nodes-1.170.10] startup +[4.808s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.813s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.819s] [ext: omni.syntheticdata-0.6.13] startup +[4.856s] [ext: omni.videoencoding-0.1.2] startup +[4.862s] [ext: omni.warp-1.8.2] startup +[4.870s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.894s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.896s] [ext: isaacsim.core.prims-0.6.1] startup +[4.948s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.958s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:20:37Z [5,187ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:20:37Z [5,187ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:20:37Z [5,192ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.228s] [ext: isaacsim.core.api-4.8.0] startup +[5.270s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.354s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.383s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.392s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.402s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.426s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.444s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.498s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.522s] [ext: omni.sensors.net-1.0.0] startup +[5.533s] [ext: isaacsim.app.about-2.0.11] startup +[5.541s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.543s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.550s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.565s] [ext: omni.kit.property.audio-1.0.16] startup +[5.574s] [ext: omni.kit.property.camera-1.0.10] startup +[5.579s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.601s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.616s] [ext: omni.kit.property.light-1.0.12] startup +[5.685s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.701s] [ext: omni.kit.selection-0.1.6] startup +[5.723s] [ext: omni.kit.property.material-1.11.9] startup +[6.156s] [ext: omni.kit.property.transform-1.5.13] startup +[6.208s] [ext: omni.kit.property.render-1.2.1] startup +[6.219s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.237s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.283s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.321s] [ext: isaacsim.gui.property-1.1.3] startup +[6.329s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.336s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.355s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.366s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.380s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.385s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.407s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.412s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.415s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.424s] [ext: omni.kit.window.console-1.1.4] startup +[6.434s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.442s] [ext: omni.ocio-0.1.1] startup +[6.449s] [ext: omni.physx.demos-107.3.26] startup +[6.497s] [ext: omni.kit.property.physx-107.3.26] startup +[6.522s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.530s] [ext: omni.asset_validator.core-1.1.6] startup +[6.595s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.602s] [ext: omni.physx.vehicle-107.3.26] startup +[6.618s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.632s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.637s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.646s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.659s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.666s] [ext: omni.physx.camera-107.3.26] startup +[6.679s] [ext: omni.anim.curve.core-1.3.1] startup +[6.700s] [ext: omni.physx.cct-107.3.26] startup +[6.717s] [ext: omni.physx.graph-107.3.26] startup +[6.747s] [ext: omni.physx.supportui-107.3.26] startup +[6.778s] [ext: omni.physx.telemetry-107.3.26] startup +[6.790s] [ext: isaaclab-0.54.3] startup +[7.113s] [ext: isaaclab_contrib-0.0.2] startup +[7.116s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.119s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.124s] [ext: semantics.schema.property-2.0.1] startup +[7.126s] [ext: omni.physx.bundle-107.3.26] startup +[7.130s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.135s] [ext: isaaclab_assets-0.2.4] startup +[7.460s] [ext: isaaclab_tasks-0.11.14] startup +[7.612s] [ext: omni.kit.menu.common-2.0.1] startup +[7.614s] [ext: isaaclab_rl-0.5.0] startup +[7.617s] [ext: isaaclab_mimic-1.0.16] startup +[7.619s] [ext: isaaclab.python-2.3.2] startup +[7.622s] Simulation App Starting +2026-07-24T14:20:40Z [7,668ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:20:40Z [7,672ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:20:40Z [7,672ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:20:40Z [7,672ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:20:40Z [7,698ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[7.744s] app ready +[11.411s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54004 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54004 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-20-59.log +====================================================================================================== + +22:20:59 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 3 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:21:00Z [27,485ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:21:00Z [27,610ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:21:00Z [27,624ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:21:00Z [27,633ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.595539 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:21:00Z [27,646ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [27,652ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [28,025ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [28,025ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [28,027ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [28,028ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [28,029ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +2026-07-24T14:21:00Z [28,029ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556715da1760:World0.usd@ <0x5567225ebbe0>) + +[INFO]: Time taken for simulation start : 0.626357 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:21:12Z [39,646ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:21:14Z [41,986ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:14Z [41,986ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:14Z [41,986ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:14Z [41,986ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:21:24Z [52,020ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=3 variant=21 rng_seed=203021 piece_order=[0, 2, 1, 4, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_5 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=3 +env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 env0 step: 1040 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1040 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-20-30_semantic-w04-s0001-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0001-a000,split=all,layout=3,variant=21,behavior=11/2026-07-24_22-20-30_semantic-w04-s0001-a000/episode_0000000_cam_head_success.mp4`, containing 209 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0001-a000,split=all,layout=3,variant=21,behavior=11/2026-07-24_22-20-30_semantic-w04-s0001-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 209 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0001-a000,split=all,layout=3,variant=21,behavior=11/2026-07-24_22-20-30_semantic-w04-s0001-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 209 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0001-a000,split=all,layout=3,variant=21,behavior=11/_resume_2026-07-24_22-20-30_semantic-w04-s0001-a000.json (eval completed) +2026-07-24T14:25:17Z [284,558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:17Z [284,558ms] [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) +[284.904s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-30_semantic-w02-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-30_semantic-w02-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..18312f0c198d40d12a2170946db4b09bd1766ba6 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-30_semantic-w02-s0002-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-24-30_semantic-w02-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222432.log +[0.054s] [ext: omni.kit.async_engine-0.0.3] startup +[0.169s] [ext: omni.metrics.core-0.0.3] startup +[0.169s] [ext: omni.client.lib-1.1.0] startup +[0.181s] [ext: omni.blobkey-1.1.2] startup +[0.181s] [ext: omni.stats-1.0.1] startup +[0.182s] [ext: omni.datastore-0.0.0] startup +[0.187s] [ext: omni.client-1.3.0] startup +[0.192s] [ext: omni.ujitso.default-1.0.0] startup +[0.193s] [ext: omni.hsscclient-1.1.2] startup +[0.227s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.229s] [ext: omni.assets.plugins-0.0.0] startup +[0.230s] [ext: omni.gpu_foundation-0.0.0] startup +[0.236s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:24:32Z [214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:32Z [214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.237s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:24:33Z [284ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:24:33Z [285ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:24:33Z [285ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:24:33Z [285ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:24:33Z [347ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:24:33Z [993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,000ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,000ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:33Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 522425 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.965s] [ext: omni.materialx.libs-1.0.7] startup +[1.972s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.973s] [ext: omni.kit.test-2.0.1] startup +[2.011s] [ext: omni.kit.pipapi-0.0.0] startup +[2.011s] [ext: omni.usd.config-1.0.6] startup +[2.014s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.014s] [ext: omni.usd.libs-1.0.1] startup +[2.089s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.089s] [ext: omni.mdl-56.0.3] startup +[2.147s] [ext: omni.iray.libs-0.0.0] startup +[2.153s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.155s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.240s] [ext: omni.kit.telemetry-0.5.2] startup +[2.271s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:24:35Z [2,250ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:35Z [2,250ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.274s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:24:35Z [2,268ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:35Z [2,268ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:35Z [2,275ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:35Z [2,276ms] [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) +[2.300s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.302s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:24:35Z [2,281ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:35Z [2,281ms] [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) +2026-07-24T14:24:35Z [2,282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:35Z [2,282ms] [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) +2026-07-24T14:24:35Z [2,283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:35Z [2,283ms] [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) +[2.378s] [ext: omni.ui-2.27.1] startup +[2.387s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.388s] [ext: carb.audio-0.1.0] startup +[2.416s] [ext: omni.uiaudio-1.0.0] startup +[2.417s] [ext: omni.kit.uiapp-0.0.0] startup +[2.417s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.420s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.425s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.427s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.430s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.432s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.449s] [ext: omni.usd_resolver-1.0.0] startup +[2.452s] [ext: omni.usd.core-1.5.3] startup +[2.454s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.471s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.478s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.505s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.506s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.506s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.510s] [ext: omni.graph.exec-0.9.6] startup +[2.510s] [ext: omni.kit.actions.core-1.0.0] startup +[2.512s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.512s] [ext: omni.kit.exec.core-0.13.4] startup +[2.514s] [ext: omni.kit.commands-1.4.10] startup +[2.516s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.519s] [ext: omni.activity.core-1.0.3] startup +[2.521s] [ext: omni.resourcemonitor-107.0.1] startup +[2.522s] [ext: omni.timeline-1.0.14] startup +[2.523s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.525s] [ext: usdrt.scenegraph-7.6.1] startup +[2.556s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.557s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.563s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.567s] [ext: omni.usd-1.13.10] startup +[2.587s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.597s] [ext: omni.index.libs-380600.8087.0] startup +[2.597s] [ext: omni.volume-0.5.2] startup +[2.599s] [ext: omni.ujitso.client-0.0.0] startup +[2.600s] [ext: omni.index-1.0.1] startup +[2.600s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.601s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:24:35Z [2,594ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.629s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.630s] [ext: omni.kit.clipboard-1.0.5] startup +[2.630s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.632s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.670s] [ext: omni.kit.menu.core-1.1.2] startup +[2.670s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.673s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.674s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.675s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.676s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.676s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.680s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.681s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.687s] [ext: omni.ui.scene-1.11.5] startup +[2.691s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.691s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.703s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.709s] [ext: omni.kit.context_menu-1.8.6] startup +[2.711s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.714s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.717s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.718s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.719s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.719s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.722s] [ext: omni.kit.material.library-2.0.7] startup +[2.726s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.728s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.729s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.741s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.745s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.749s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.749s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.752s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.755s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.756s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.758s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.759s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.760s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.761s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.765s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.768s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.768s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.770s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.771s] [ext: omni.fabric.commands-1.1.6] startup +[2.773s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.773s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.774s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.775s] [ext: omni.debugdraw-0.1.4] startup +[2.778s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.786s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.787s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.787s] [ext: omni.kvdb-107.3.26] startup +[2.788s] [ext: omni.convexdecomposition-107.3.26] startup +[2.790s] [ext: omni.physx.foundation-107.3.26] startup +[2.792s] [ext: omni.localcache-107.3.26] startup +[2.793s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.793s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.794s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.794s] [ext: omni.usdphysics-107.3.26] startup +[2.796s] [ext: omni.kit.window.file-2.0.5] startup +[2.798s] [ext: omni.physx.cooking-107.3.26] startup +[2.801s] [ext: omni.physics-107.3.26] startup +[2.803s] [ext: omni.kit.window.property-1.12.1] startup +[2.805s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.816s] [ext: omni.physx-107.3.26] startup +[2.824s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.825s] [ext: omni.kit.property.usd-4.5.12] startup +[2.836s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.837s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:24:35Z [2,815ms] [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. +[2.838s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.838s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.849s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.853s] [ext: omni.inspect-1.0.2] startup +[2.854s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.863s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.864s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.869s] [ext: omni.graph.core-2.184.5] startup +[2.871s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.873s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.894s] [ext: omni.physx.commands-107.3.26] startup +[2.898s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.898s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:24:35Z [2,880ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.903s] [ext: omni.physx.ui-107.3.26] startup +[2.928s] [ext: isaacsim.core.version-2.0.6] startup +[2.929s] [ext: omni.physics.tensors-107.3.26] startup +[2.933s] [ext: omni.warp.core-1.8.2] startup +[3.089s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.091s] [ext: isaacsim.storage.native-1.5.1] startup +[3.092s] [ext: omni.physx.tensors-107.3.26] startup +[3.096s] [ext: isaacsim.core.utils-3.5.1] startup +[3.099s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.297s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.297s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.299s] [ext: omni.kit.window.stage-2.6.1] startup +[4.302s] [ext: omni.kit.menu.create-2.0.1] startup +[4.303s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.308s] [ext: omni.kit.scripting-107.3.2] startup +[4.311s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.314s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.314s] [ext: omni.graph.tools-1.79.2] startup +[4.332s] [ext: omni.ui_query-1.1.8] startup +[4.333s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.333s] [ext: omni.graph-1.141.2] startup +[4.367s] [ext: omni.graph.action_core-1.1.7] startup +[4.368s] [ext: omni.kit.ui_test-1.3.7] startup +[4.372s] [ext: omni.kit.browser.core-2.3.13] startup +[4.374s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.378s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.381s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.384s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.395s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.398s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.409s] [ext: omni.graph.action-1.130.0] startup +[4.412s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.418s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.435s] [ext: isaacsim.gui.components-1.2.1] startup +[4.443s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.455s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.567s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.572s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.582s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.705s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:24:37Z [4,685ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.711s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.714s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.720s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.726s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.729s] [ext: omni.graph.image.core-0.6.1] startup +[4.732s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.733s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.735s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.738s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.741s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.743s] [ext: omni.graph.nodes-1.170.10] startup +[4.754s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.759s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.764s] [ext: omni.syntheticdata-0.6.13] startup +[4.801s] [ext: omni.videoencoding-0.1.2] startup +[4.809s] [ext: omni.warp-1.8.2] startup +[4.816s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.844s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.851s] [ext: isaacsim.core.prims-0.6.1] startup +[4.914s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.934s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:24:37Z [5,159ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:24:37Z [5,160ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:24:37Z [5,161ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.194s] [ext: isaacsim.core.api-4.8.0] startup +[5.252s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.317s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.328s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.341s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.347s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.366s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.375s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.398s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.405s] [ext: omni.sensors.net-1.0.0] startup +[5.411s] [ext: isaacsim.app.about-2.0.11] startup +[5.425s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.425s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.437s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.448s] [ext: omni.kit.property.audio-1.0.16] startup +[5.458s] [ext: omni.kit.property.camera-1.0.10] startup +[5.466s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.480s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.507s] [ext: omni.kit.property.light-1.0.12] startup +[5.573s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.583s] [ext: omni.kit.selection-0.1.6] startup +[5.622s] [ext: omni.kit.property.material-1.11.9] startup +[5.735s] [ext: omni.kit.property.transform-1.5.13] startup +[5.853s] [ext: omni.kit.property.render-1.2.1] startup +[5.868s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.913s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.259s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.286s] [ext: isaacsim.gui.property-1.1.3] startup +[6.301s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.310s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.331s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.358s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.403s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.426s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.459s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.464s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.468s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.480s] [ext: omni.kit.window.console-1.1.4] startup +[6.497s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.509s] [ext: omni.ocio-0.1.1] startup +[6.515s] [ext: omni.physx.demos-107.3.26] startup +[6.547s] [ext: omni.kit.property.physx-107.3.26] startup +[6.585s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.595s] [ext: omni.asset_validator.core-1.1.6] startup +[6.671s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.678s] [ext: omni.physx.vehicle-107.3.26] startup +[6.696s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.711s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.717s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.723s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.736s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.745s] [ext: omni.physx.camera-107.3.26] startup +[6.757s] [ext: omni.anim.curve.core-1.3.1] startup +[6.781s] [ext: omni.physx.cct-107.3.26] startup +[6.805s] [ext: omni.physx.graph-107.3.26] startup +[6.824s] [ext: omni.physx.supportui-107.3.26] startup +[6.853s] [ext: omni.physx.telemetry-107.3.26] startup +[6.863s] [ext: isaaclab-0.54.3] startup +[7.183s] [ext: isaaclab_contrib-0.0.2] startup +[7.186s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.189s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.194s] [ext: semantics.schema.property-2.0.1] startup +[7.198s] [ext: omni.physx.bundle-107.3.26] startup +[7.201s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.206s] [ext: isaaclab_assets-0.2.4] startup +[7.497s] [ext: isaaclab_tasks-0.11.14] startup +[7.654s] [ext: omni.kit.menu.common-2.0.1] startup +[7.657s] [ext: isaaclab_rl-0.5.0] startup +[7.660s] [ext: isaaclab_mimic-1.0.16] startup +[7.662s] [ext: isaaclab.python-2.3.2] startup +[7.664s] Simulation App Starting +2026-07-24T14:24:40Z [7,718ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:24:40Z [7,724ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:24:40Z [7,724ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:24:40Z [7,724ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:24:40Z [7,749ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.800s] app ready +[11.312s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-00.log +====================================================================================================== + +22:25:00 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 5 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:00Z [27,856ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:00Z [27,943ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:00Z [27,956ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:00Z [27,966ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.496785 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:00Z [27,978ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:00Z [27,984ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:01Z [28,378ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:01Z [28,378ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:01Z [28,381ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:01Z [28,382ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:01Z [28,383ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +2026-07-24T14:25:01Z [28,383ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594828ad200:World0.usd@ <0x55948f127d80>) + +[INFO]: Time taken for simulation start : 0.652824 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:25:09Z [36,976ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:25:15Z [42,412ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:15Z [42,412ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:15Z [42,412ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:15Z [42,412ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:22Z [49,384ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=5 variant=26 rng_seed=105026 piece_order=[3, 4, 0, 2, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[3] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=3 +env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=986 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-24-30_semantic-w02-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0002-a000,split=all,layout=5,variant=26,behavior=16/2026-07-24_22-24-30_semantic-w02-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 199 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0002-a000,split=all,layout=5,variant=26,behavior=16/2026-07-24_22-24-30_semantic-w02-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 199 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0002-a000,split=all,layout=5,variant=26,behavior=16/2026-07-24_22-24-30_semantic-w02-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 199 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0002-a000,split=all,layout=5,variant=26,behavior=16/_resume_2026-07-24_22-24-30_semantic-w02-s0002-a000.json (eval completed) +2026-07-24T14:28:47Z [254,598ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:47Z [254,598ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[254.985s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-44_semantic-w05-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-44_semantic-w05-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..1f5cc7124a7ea55f574f9b873af1cadbfe639cf3 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-44_semantic-w05-s0002-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-24-44_semantic-w05-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222446.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +[0.173s] [ext: omni.metrics.core-0.0.3] startup +[0.173s] [ext: omni.client.lib-1.1.0] startup +[0.186s] [ext: omni.blobkey-1.1.2] startup +[0.186s] [ext: omni.stats-1.0.1] startup +[0.187s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.197s] [ext: omni.ujitso.default-1.0.0] startup +[0.199s] [ext: omni.hsscclient-1.1.2] startup +[0.223s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.224s] [ext: omni.assets.plugins-0.0.0] startup +[0.225s] [ext: omni.gpu_foundation-0.0.0] startup +[0.232s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:24:46Z [212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:46Z [212ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.233s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:24:46Z [285ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:24:46Z [286ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:24:46Z [286ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:24:46Z [286ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:24:46Z [344ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:24:47Z [1,077ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,077ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,080ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,080ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,084ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,084ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,085ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,085ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:47Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 525401 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.972s] [ext: omni.materialx.libs-1.0.7] startup +[1.979s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.980s] [ext: omni.kit.test-2.0.1] startup +[2.027s] [ext: omni.kit.pipapi-0.0.0] startup +[2.027s] [ext: omni.usd.config-1.0.6] startup +[2.030s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.031s] [ext: omni.usd.libs-1.0.1] startup +[2.105s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.105s] [ext: omni.mdl-56.0.3] startup +[2.162s] [ext: omni.iray.libs-0.0.0] startup +[2.167s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.170s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.253s] [ext: omni.kit.telemetry-0.5.2] startup +[2.293s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:24:48Z [2,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:48Z [2,273ms] [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) +[2.296s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:24:48Z [2,288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:48Z [2,288ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:48Z [2,295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:48Z [2,295ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.318s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.320s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:24:48Z [2,301ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:48Z [2,301ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:48Z [2,302ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:48Z [2,302ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:48Z [2,303ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:48Z [2,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.411s] [ext: omni.ui-2.27.1] startup +[2.419s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.420s] [ext: carb.audio-0.1.0] startup +[2.447s] [ext: omni.uiaudio-1.0.0] startup +[2.448s] [ext: omni.kit.uiapp-0.0.0] startup +[2.448s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.451s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.456s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.458s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.460s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.462s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.479s] [ext: omni.usd_resolver-1.0.0] startup +[2.482s] [ext: omni.usd.core-1.5.3] startup +[2.484s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.502s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.509s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.536s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.537s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.538s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.541s] [ext: omni.graph.exec-0.9.6] startup +[2.541s] [ext: omni.kit.actions.core-1.0.0] startup +[2.543s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.544s] [ext: omni.kit.exec.core-0.13.4] startup +[2.545s] [ext: omni.kit.commands-1.4.10] startup +[2.548s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.551s] [ext: omni.activity.core-1.0.3] startup +[2.552s] [ext: omni.resourcemonitor-107.0.1] startup +[2.554s] [ext: omni.timeline-1.0.14] startup +[2.555s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.557s] [ext: usdrt.scenegraph-7.6.1] startup +[2.588s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.589s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.594s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.598s] [ext: omni.usd-1.13.10] startup +[2.619s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.630s] [ext: omni.index.libs-380600.8087.0] startup +[2.630s] [ext: omni.volume-0.5.2] startup +[2.632s] [ext: omni.ujitso.client-0.0.0] startup +[2.632s] [ext: omni.index-1.0.1] startup +[2.633s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.634s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:24:49Z [2,628ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.662s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.663s] [ext: omni.kit.clipboard-1.0.5] startup +[2.664s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.666s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.670s] [ext: omni.kit.menu.core-1.1.2] startup +[2.671s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.673s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.675s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.675s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.676s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.677s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.681s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.681s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.688s] [ext: omni.ui.scene-1.11.5] startup +[2.692s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.692s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.704s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.710s] [ext: omni.kit.context_menu-1.8.6] startup +[2.711s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.715s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.718s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.719s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.720s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.720s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.724s] [ext: omni.kit.material.library-2.0.7] startup +[2.727s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.729s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.731s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.746s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.753s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.758s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.758s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.762s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.765s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.766s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.767s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.769s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.769s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.770s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.775s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.778s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.779s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.780s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.781s] [ext: omni.fabric.commands-1.1.6] startup +[2.783s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.784s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.785s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.786s] [ext: omni.debugdraw-0.1.4] startup +[2.789s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.798s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.798s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.799s] [ext: omni.kvdb-107.3.26] startup +[2.800s] [ext: omni.convexdecomposition-107.3.26] startup +[2.802s] [ext: omni.physx.foundation-107.3.26] startup +[2.803s] [ext: omni.localcache-107.3.26] startup +[2.804s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.805s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.805s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.806s] [ext: omni.usdphysics-107.3.26] startup +[2.808s] [ext: omni.kit.window.file-2.0.5] startup +[2.810s] [ext: omni.physx.cooking-107.3.26] startup +[2.812s] [ext: omni.physics-107.3.26] startup +[2.815s] [ext: omni.kit.window.property-1.12.1] startup +[2.817s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.826s] [ext: omni.physx-107.3.26] startup +[2.834s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.836s] [ext: omni.kit.property.usd-4.5.12] startup +[2.845s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.845s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:24:49Z [2,826ms] [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. +[2.847s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.847s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.859s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.862s] [ext: omni.inspect-1.0.2] startup +[2.864s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.876s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.877s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.882s] [ext: omni.graph.core-2.184.5] startup +[2.885s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.886s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.908s] [ext: omni.physx.commands-107.3.26] startup +[2.912s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.912s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:24:49Z [2,895ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.917s] [ext: omni.physx.ui-107.3.26] startup +[2.943s] [ext: isaacsim.core.version-2.0.6] startup +[2.943s] [ext: omni.physics.tensors-107.3.26] startup +[2.947s] [ext: omni.warp.core-1.8.2] startup +[3.107s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.108s] [ext: isaacsim.storage.native-1.5.1] startup +[3.110s] [ext: omni.physx.tensors-107.3.26] startup +[3.114s] [ext: isaacsim.core.utils-3.5.1] startup +[3.116s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.287s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.288s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.289s] [ext: omni.kit.window.stage-2.6.1] startup +[4.293s] [ext: omni.kit.menu.create-2.0.1] startup +[4.294s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.299s] [ext: omni.kit.scripting-107.3.2] startup +[4.302s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.305s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.305s] [ext: omni.graph.tools-1.79.2] startup +[4.323s] [ext: omni.ui_query-1.1.8] startup +[4.323s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.324s] [ext: omni.graph-1.141.2] startup +[4.357s] [ext: omni.graph.action_core-1.1.7] startup +[4.359s] [ext: omni.kit.ui_test-1.3.7] startup +[4.362s] [ext: omni.kit.browser.core-2.3.13] startup +[4.366s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.369s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.373s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.376s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.387s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.390s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.405s] [ext: omni.graph.action-1.130.0] startup +[4.407s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.412s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.424s] [ext: isaacsim.gui.components-1.2.1] startup +[4.448s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.456s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.549s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.556s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.564s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.648s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:24:51Z [4,634ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.657s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.659s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.662s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.669s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.672s] [ext: omni.graph.image.core-0.6.1] startup +[4.674s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.675s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.677s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.681s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.683s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.684s] [ext: omni.graph.nodes-1.170.10] startup +[4.692s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.695s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.700s] [ext: omni.syntheticdata-0.6.13] startup +[4.727s] [ext: omni.videoencoding-0.1.2] startup +[4.729s] [ext: omni.warp-1.8.2] startup +[4.735s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.766s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.770s] [ext: isaacsim.core.prims-0.6.1] startup +[4.815s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.823s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:24:51Z [5,154ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:24:51Z [5,154ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:24:51Z [5,156ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.180s] [ext: isaacsim.core.api-4.8.0] startup +[5.196s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.259s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.270s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.276s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.292s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.304s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.311s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.330s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.336s] [ext: omni.sensors.net-1.0.0] startup +[5.341s] [ext: isaacsim.app.about-2.0.11] startup +[5.348s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.349s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.356s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.365s] [ext: omni.kit.property.audio-1.0.16] startup +[5.373s] [ext: omni.kit.property.camera-1.0.10] startup +[5.377s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.391s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.397s] [ext: omni.kit.property.light-1.0.12] startup +[5.427s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.431s] [ext: omni.kit.selection-0.1.6] startup +[5.435s] [ext: omni.kit.property.material-1.11.9] startup +[5.495s] [ext: omni.kit.property.transform-1.5.13] startup +[5.522s] [ext: omni.kit.property.render-1.2.1] startup +[5.532s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.538s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.610s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.665s] [ext: isaacsim.gui.property-1.1.3] startup +[5.692s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.705s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.817s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.875s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.923s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.930s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[5.941s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[5.948s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[5.953s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[5.969s] [ext: omni.kit.window.console-1.1.4] startup +[5.988s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.019s] [ext: omni.ocio-0.1.1] startup +[6.022s] [ext: omni.physx.demos-107.3.26] startup +[6.088s] [ext: omni.kit.property.physx-107.3.26] startup +[6.129s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.135s] [ext: omni.asset_validator.core-1.1.6] startup +[6.223s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.229s] [ext: omni.physx.vehicle-107.3.26] startup +[6.252s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.269s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.273s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.281s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.295s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.303s] [ext: omni.physx.camera-107.3.26] startup +[6.317s] [ext: omni.anim.curve.core-1.3.1] startup +[6.339s] [ext: omni.physx.cct-107.3.26] startup +[6.353s] [ext: omni.physx.graph-107.3.26] startup +[6.371s] [ext: omni.physx.supportui-107.3.26] startup +[6.403s] [ext: omni.physx.telemetry-107.3.26] startup +[6.411s] [ext: isaaclab-0.54.3] startup +[6.714s] [ext: isaaclab_contrib-0.0.2] startup +[6.715s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.718s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.723s] [ext: semantics.schema.property-2.0.1] startup +[6.726s] [ext: omni.physx.bundle-107.3.26] startup +[6.726s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.735s] [ext: isaaclab_assets-0.2.4] startup +[7.051s] [ext: isaaclab_tasks-0.11.14] startup +[7.213s] [ext: omni.kit.menu.common-2.0.1] startup +[7.216s] [ext: isaaclab_rl-0.5.0] startup +[7.219s] [ext: isaaclab_mimic-1.0.16] startup +[7.221s] [ext: isaaclab.python-2.3.2] startup +[7.224s] Simulation App Starting +2026-07-24T14:24:53Z [7,360ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:24:53Z [7,360ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:24:53Z [7,360ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:24:54Z [7,391ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.447s] app ready +[11.847s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-13.log +====================================================================================================== + +22:25:13 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 6 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:14Z [27,776ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:14Z [27,907ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:14Z [27,920ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:14Z [27,930ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.602204 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:14Z [27,942ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [27,948ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [28,355ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [28,355ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [28,357ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [28,359ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [28,360ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +2026-07-24T14:25:14Z [28,360ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f9627a5600:World0.usd@ <0x55f96ef93e00>) + +[INFO]: Time taken for simulation start : 0.662434 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:25:25Z [38,712ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:25:26Z [39,392ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:26Z [39,392ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:26Z [39,392ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:26Z [39,392ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:38Z [51,399ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=6 variant=29 rng_seed=106029 piece_order=[3, 0, 2, 4, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=7 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[5] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=5 +env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1012 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-24-44_semantic-w05-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0002-a000,split=all,layout=6,variant=29,behavior=19/2026-07-24_22-24-44_semantic-w05-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 204 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0002-a000,split=all,layout=6,variant=29,behavior=19/2026-07-24_22-24-44_semantic-w05-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 204 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0002-a000,split=all,layout=6,variant=29,behavior=19/2026-07-24_22-24-44_semantic-w05-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 204 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0002-a000,split=all,layout=6,variant=29,behavior=19/_resume_2026-07-24_22-24-44_semantic-w05-s0002-a000.json (eval completed) +2026-07-24T14:29:13Z [266,642ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:13Z [266,642ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[266.997s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-51_semantic-w06-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-51_semantic-w06-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..278114b3d614b856ff4d60dedd487ff92e4ca84d --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-51_semantic-w06-s0002-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-24-51_semantic-w06-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222453.log +[0.050s] [ext: omni.kit.async_engine-0.0.3] startup +[0.168s] [ext: omni.metrics.core-0.0.3] startup +[0.168s] [ext: omni.client.lib-1.1.0] startup +[0.180s] [ext: omni.blobkey-1.1.2] startup +[0.180s] [ext: omni.stats-1.0.1] startup +[0.181s] [ext: omni.datastore-0.0.0] startup +[0.186s] [ext: omni.client-1.3.0] startup +[0.191s] [ext: omni.ujitso.default-1.0.0] startup +[0.192s] [ext: omni.hsscclient-1.1.2] startup +[0.213s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.214s] [ext: omni.assets.plugins-0.0.0] startup +[0.215s] [ext: omni.gpu_foundation-0.0.0] startup +[0.221s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:24:53Z [203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:53Z [203ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.222s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:24:53Z [274ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:24:53Z [278ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:24:53Z [278ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:24:53Z [278ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:24:53Z [335ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:24:54Z [945ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [945ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [946ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [946ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [949ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [949ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [950ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [950ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [952ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [952ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [953ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [953ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:54Z [954ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 536580 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.816s] [ext: omni.materialx.libs-1.0.7] startup +[1.825s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.825s] [ext: omni.kit.test-2.0.1] startup +[1.868s] [ext: omni.kit.pipapi-0.0.0] startup +[1.868s] [ext: omni.usd.config-1.0.6] startup +[1.871s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.871s] [ext: omni.usd.libs-1.0.1] startup +[1.945s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.945s] [ext: omni.mdl-56.0.3] startup +[2.000s] [ext: omni.iray.libs-0.0.0] startup +[2.005s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.008s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.090s] [ext: omni.kit.telemetry-0.5.2] startup +[2.131s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:24:55Z [2,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:55Z [2,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.134s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:24:55Z [2,132ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:55Z [2,132ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:55Z [2,155ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:55Z [2,155ms] [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) +[2.176s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.177s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:24:55Z [2,161ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:55Z [2,161ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:55Z [2,162ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:55Z [2,162ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:24:55Z [2,163ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:55Z [2,163ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.322s] [ext: omni.ui-2.27.1] startup +[2.336s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.338s] [ext: carb.audio-0.1.0] startup +[2.360s] [ext: omni.uiaudio-1.0.0] startup +[2.361s] [ext: omni.kit.uiapp-0.0.0] startup +[2.361s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.364s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.371s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.374s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.377s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.380s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.401s] [ext: omni.usd_resolver-1.0.0] startup +[2.405s] [ext: omni.usd.core-1.5.3] startup +[2.408s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.426s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.432s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.459s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.460s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.460s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.464s] [ext: omni.graph.exec-0.9.6] startup +[2.464s] [ext: omni.kit.actions.core-1.0.0] startup +[2.466s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.466s] [ext: omni.kit.exec.core-0.13.4] startup +[2.467s] [ext: omni.kit.commands-1.4.10] startup +[2.470s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.473s] [ext: omni.activity.core-1.0.3] startup +[2.474s] [ext: omni.resourcemonitor-107.0.1] startup +[2.475s] [ext: omni.timeline-1.0.14] startup +[2.477s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.478s] [ext: usdrt.scenegraph-7.6.1] startup +[2.508s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.509s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.514s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.518s] [ext: omni.usd-1.13.10] startup +[2.538s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.548s] [ext: omni.index.libs-380600.8087.0] startup +[2.548s] [ext: omni.volume-0.5.2] startup +[2.550s] [ext: omni.ujitso.client-0.0.0] startup +[2.550s] [ext: omni.index-1.0.1] startup +[2.551s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.552s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:24:55Z [2,548ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.580s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.582s] [ext: omni.kit.clipboard-1.0.5] startup +[2.582s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.584s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.588s] [ext: omni.kit.menu.core-1.1.2] startup +[2.589s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.591s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.592s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.593s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.594s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.594s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.598s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.599s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.605s] [ext: omni.ui.scene-1.11.5] startup +[2.608s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.609s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.620s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.626s] [ext: omni.kit.context_menu-1.8.6] startup +[2.627s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.631s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.634s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.635s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.636s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.636s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.639s] [ext: omni.kit.material.library-2.0.7] startup +[2.643s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.645s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.646s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.658s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.662s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.666s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.666s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.669s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.672s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.673s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.675s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.676s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.677s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.677s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.682s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.685s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.685s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.687s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.688s] [ext: omni.fabric.commands-1.1.6] startup +[2.690s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.690s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.691s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.692s] [ext: omni.debugdraw-0.1.4] startup +[2.695s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.703s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.704s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.704s] [ext: omni.kvdb-107.3.26] startup +[2.705s] [ext: omni.convexdecomposition-107.3.26] startup +[2.707s] [ext: omni.physx.foundation-107.3.26] startup +[2.708s] [ext: omni.localcache-107.3.26] startup +[2.709s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.710s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.710s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.711s] [ext: omni.usdphysics-107.3.26] startup +[2.712s] [ext: omni.kit.window.file-2.0.5] startup +[2.715s] [ext: omni.physx.cooking-107.3.26] startup +[2.717s] [ext: omni.physics-107.3.26] startup +[2.721s] [ext: omni.kit.window.property-1.12.1] startup +[2.724s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.734s] [ext: omni.physx-107.3.26] startup +[2.743s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.745s] [ext: omni.kit.property.usd-4.5.12] startup +[2.754s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.755s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:24:55Z [2,737ms] [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. +[2.756s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.757s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.774s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.779s] [ext: omni.inspect-1.0.2] startup +[2.780s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.796s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.798s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.806s] [ext: omni.graph.core-2.184.5] startup +[2.809s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.811s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.846s] [ext: omni.physx.commands-107.3.26] startup +[2.853s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.854s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:24:55Z [2,842ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.862s] [ext: omni.physx.ui-107.3.26] startup +[2.897s] [ext: isaacsim.core.version-2.0.6] startup +[2.898s] [ext: omni.physics.tensors-107.3.26] startup +[2.903s] [ext: omni.warp.core-1.8.2] startup +[3.091s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.093s] [ext: isaacsim.storage.native-1.5.1] startup +[3.094s] [ext: omni.physx.tensors-107.3.26] startup +[3.098s] [ext: isaacsim.core.utils-3.5.1] startup +[3.101s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.355s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.356s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.358s] [ext: omni.kit.window.stage-2.6.1] startup +[4.363s] [ext: omni.kit.menu.create-2.0.1] startup +[4.364s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.369s] [ext: omni.kit.scripting-107.3.2] startup +[4.373s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.376s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.376s] [ext: omni.graph.tools-1.79.2] startup +[4.394s] [ext: omni.ui_query-1.1.8] startup +[4.395s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.395s] [ext: omni.graph-1.141.2] startup +[4.431s] [ext: omni.graph.action_core-1.1.7] startup +[4.433s] [ext: omni.kit.ui_test-1.3.7] startup +[4.436s] [ext: omni.kit.browser.core-2.3.13] startup +[4.440s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.442s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.446s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.449s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.461s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.464s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.475s] [ext: omni.graph.action-1.130.0] startup +[4.477s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.484s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.496s] [ext: isaacsim.gui.components-1.2.1] startup +[4.502s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.510s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.603s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.607s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.612s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.705s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:24:57Z [4,696ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.718s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.720s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.725s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.734s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.738s] [ext: omni.graph.image.core-0.6.1] startup +[4.740s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.741s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.744s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.749s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.752s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.755s] [ext: omni.graph.nodes-1.170.10] startup +[4.768s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.774s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.781s] [ext: omni.syntheticdata-0.6.13] startup +[4.823s] [ext: omni.videoencoding-0.1.2] startup +[4.826s] [ext: omni.warp-1.8.2] startup +[4.836s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.873s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.879s] [ext: isaacsim.core.prims-0.6.1] startup +[4.919s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.935s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:24:58Z [5,200ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:24:58Z [5,200ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:24:58Z [5,202ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.228s] [ext: isaacsim.core.api-4.8.0] startup +[5.261s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.342s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.355s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.367s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.374s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.389s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.401s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.420s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.428s] [ext: omni.sensors.net-1.0.0] startup +[5.434s] [ext: isaacsim.app.about-2.0.11] startup +[5.446s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.447s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.456s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.466s] [ext: omni.kit.property.audio-1.0.16] startup +[5.475s] [ext: omni.kit.property.camera-1.0.10] startup +[5.481s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.495s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.504s] [ext: omni.kit.property.light-1.0.12] startup +[5.560s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.563s] [ext: omni.kit.selection-0.1.6] startup +[5.574s] [ext: omni.kit.property.material-1.11.9] startup +[5.619s] [ext: omni.kit.property.transform-1.5.13] startup +[5.666s] [ext: omni.kit.property.render-1.2.1] startup +[5.678s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.684s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.756s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.810s] [ext: isaacsim.gui.property-1.1.3] startup +[5.831s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.850s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.876s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.048s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.079s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.086s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.094s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.099s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.102s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.112s] [ext: omni.kit.window.console-1.1.4] startup +[6.120s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.131s] [ext: omni.ocio-0.1.1] startup +[6.133s] [ext: omni.physx.demos-107.3.26] startup +[6.171s] [ext: omni.kit.property.physx-107.3.26] startup +[6.192s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.196s] [ext: omni.asset_validator.core-1.1.6] startup +[6.241s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.245s] [ext: omni.physx.vehicle-107.3.26] startup +[6.260s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.269s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.272s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.277s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.285s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.289s] [ext: omni.physx.camera-107.3.26] startup +[6.302s] [ext: omni.anim.curve.core-1.3.1] startup +[6.321s] [ext: omni.physx.cct-107.3.26] startup +[6.337s] [ext: omni.physx.graph-107.3.26] startup +[6.352s] [ext: omni.physx.supportui-107.3.26] startup +[6.364s] [ext: omni.physx.telemetry-107.3.26] startup +[6.366s] [ext: isaaclab-0.54.3] startup +[6.558s] [ext: isaaclab_contrib-0.0.2] startup +[6.560s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.562s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.564s] [ext: semantics.schema.property-2.0.1] startup +[6.566s] [ext: omni.physx.bundle-107.3.26] startup +[6.567s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.573s] [ext: isaaclab_assets-0.2.4] startup +[6.879s] [ext: isaaclab_tasks-0.11.14] startup +[7.031s] [ext: omni.kit.menu.common-2.0.1] startup +[7.032s] [ext: isaaclab_rl-0.5.0] startup +[7.034s] [ext: isaaclab_mimic-1.0.16] startup +[7.035s] [ext: isaaclab.python-2.3.2] startup +[7.037s] Simulation App Starting +2026-07-24T14:25:00Z [7,092ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:25:00Z [7,096ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:25:00Z [7,096ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:25:00Z [7,096ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:25:00Z [7,117ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.180s] app ready +[11.001s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-19.log +====================================================================================================== + +22:25:19 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 6 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:19Z [26,654ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:19Z [26,742ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:19Z [26,754ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:19Z [26,765ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.494417 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:19Z [26,778ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:19Z [26,783ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:20Z [27,163ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:20Z [27,163ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:20Z [27,166ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:20Z [27,167ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:20Z [27,167ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +2026-07-24T14:25:20Z [27,168ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d567fbb8b0:World0.usd@ <0x55d57483b400>) + +[INFO]: Time taken for simulation start : 0.661402 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:25:28Z [35,715ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:25:29Z [36,031ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:29Z [36,032ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:29Z [36,032ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:29Z [36,032ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:40Z [47,648ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=6 variant=30 rng_seed=206030 piece_order=[0, 3, 2, 4, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_2 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=2 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[6] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=6 +env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1006 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-24-51_semantic-w06-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0002-a000,split=all,layout=6,variant=30,behavior=20/2026-07-24_22-24-51_semantic-w06-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0002-a000,split=all,layout=6,variant=30,behavior=20/2026-07-24_22-24-51_semantic-w06-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0002-a000,split=all,layout=6,variant=30,behavior=20/2026-07-24_22-24-51_semantic-w06-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0002-a000,split=all,layout=6,variant=30,behavior=20/_resume_2026-07-24_22-24-51_semantic-w06-s0002-a000.json (eval completed) +2026-07-24T14:29:14Z [260,890ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:14Z [260,890ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[261.235s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-52_semantic-w00-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-52_semantic-w00-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..9a201ae4b0aa2110088edada647bec7d6a63ce34 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-52_semantic-w00-s0002-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-24-52_semantic-w00-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222453.log +[0.055s] [ext: omni.kit.async_engine-0.0.3] startup +[0.182s] [ext: omni.metrics.core-0.0.3] startup +[0.182s] [ext: omni.client.lib-1.1.0] startup +[0.194s] [ext: omni.blobkey-1.1.2] startup +[0.194s] [ext: omni.stats-1.0.1] startup +[0.195s] [ext: omni.datastore-0.0.0] startup +[0.200s] [ext: omni.client-1.3.0] startup +[0.204s] [ext: omni.ujitso.default-1.0.0] startup +[0.206s] [ext: omni.hsscclient-1.1.2] startup +[0.228s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.229s] [ext: omni.assets.plugins-0.0.0] startup +[0.230s] [ext: omni.gpu_foundation-0.0.0] startup +[0.236s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:24:54Z [217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:54Z [217ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.237s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:24:54Z [283ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:24:54Z [285ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:24:54Z [285ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:24:54Z [285ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:24:54Z [348ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:24:55Z [1,243ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,243ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,247ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,247ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,248ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,248ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,248ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,248ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,249ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,249ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:24:55Z [1,250ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 535876 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.219s] [ext: omni.materialx.libs-1.0.7] startup +[2.226s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.226s] [ext: omni.kit.test-2.0.1] startup +[2.266s] [ext: omni.kit.pipapi-0.0.0] startup +[2.266s] [ext: omni.usd.config-1.0.6] startup +[2.269s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.269s] [ext: omni.usd.libs-1.0.1] startup +[2.342s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.343s] [ext: omni.mdl-56.0.3] startup +[2.422s] [ext: omni.iray.libs-0.0.0] startup +[2.428s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.431s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.516s] [ext: omni.kit.telemetry-0.5.2] startup +[2.547s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:24:56Z [2,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:56Z [2,528ms] [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) +[2.551s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:24:56Z [2,544ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:56Z [2,544ms] [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) +2026-07-24T14:24:56Z [2,553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:56Z [2,553ms] [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) +[2.575s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.577s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:24:56Z [2,559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:56Z [2,559ms] [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) +2026-07-24T14:24:56Z [2,560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:56Z [2,560ms] [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) +2026-07-24T14:24:56Z [2,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:24:56Z [2,561ms] [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) +[2.670s] [ext: omni.ui-2.27.1] startup +[2.682s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.682s] [ext: carb.audio-0.1.0] startup +[2.710s] [ext: omni.uiaudio-1.0.0] startup +[2.711s] [ext: omni.kit.uiapp-0.0.0] startup +[2.711s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.713s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.719s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.722s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.725s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.729s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.756s] [ext: omni.usd_resolver-1.0.0] startup +[2.760s] [ext: omni.usd.core-1.5.3] startup +[2.763s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.781s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.787s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.815s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.816s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.817s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.820s] [ext: omni.graph.exec-0.9.6] startup +[2.820s] [ext: omni.kit.actions.core-1.0.0] startup +[2.822s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.823s] [ext: omni.kit.exec.core-0.13.4] startup +[2.824s] [ext: omni.kit.commands-1.4.10] startup +[2.827s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.830s] [ext: omni.activity.core-1.0.3] startup +[2.831s] [ext: omni.resourcemonitor-107.0.1] startup +[2.832s] [ext: omni.timeline-1.0.14] startup +[2.834s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.835s] [ext: usdrt.scenegraph-7.6.1] startup +[2.865s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.867s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.872s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.876s] [ext: omni.usd-1.13.10] startup +[2.899s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.911s] [ext: omni.index.libs-380600.8087.0] startup +[2.911s] [ext: omni.volume-0.5.2] startup +[2.914s] [ext: omni.ujitso.client-0.0.0] startup +[2.914s] [ext: omni.index-1.0.1] startup +[2.915s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.916s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:24:56Z [2,910ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.943s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.944s] [ext: omni.kit.clipboard-1.0.5] startup +[2.945s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.947s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.951s] [ext: omni.kit.menu.core-1.1.2] startup +[2.951s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.954s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.955s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.956s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.956s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.957s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.961s] 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omni.kit.window.file_exporter-1.0.33] startup +[3.056s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.057s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.058s] [ext: omni.debugdraw-0.1.4] startup +[3.061s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.069s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.070s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.070s] [ext: omni.kvdb-107.3.26] startup +[3.071s] [ext: omni.convexdecomposition-107.3.26] startup +[3.073s] [ext: omni.physx.foundation-107.3.26] startup +[3.075s] [ext: omni.localcache-107.3.26] startup +[3.076s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.076s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.076s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.077s] [ext: omni.usdphysics-107.3.26] startup +[3.079s] [ext: omni.kit.window.file-2.0.5] startup +[3.081s] [ext: omni.physx.cooking-107.3.26] startup +[3.083s] [ext: omni.physics-107.3.26] startup +[3.086s] [ext: omni.kit.window.property-1.12.1] startup +[3.088s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.097s] [ext: omni.physx-107.3.26] startup +[3.105s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.107s] [ext: omni.kit.property.usd-4.5.12] startup +[3.115s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.116s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:24:57Z [3,097ms] [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. +[3.118s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.118s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.129s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.133s] [ext: omni.inspect-1.0.2] startup +[3.134s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.143s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.144s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.149s] [ext: omni.graph.core-2.184.5] startup +[3.152s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.153s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.174s] [ext: omni.physx.commands-107.3.26] startup +[3.178s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.179s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:24:57Z [3,163ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.184s] [ext: omni.physx.ui-107.3.26] startup +[3.209s] [ext: isaacsim.core.version-2.0.6] startup +[3.210s] [ext: omni.physics.tensors-107.3.26] startup +[3.214s] [ext: omni.warp.core-1.8.2] startup +[3.381s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.382s] [ext: isaacsim.storage.native-1.5.1] startup +[3.384s] [ext: omni.physx.tensors-107.3.26] startup +[3.388s] [ext: isaacsim.core.utils-3.5.1] startup +[3.390s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.686s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.686s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.688s] [ext: omni.kit.window.stage-2.6.1] startup +[4.691s] [ext: omni.kit.menu.create-2.0.1] startup +[4.692s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.698s] [ext: omni.kit.scripting-107.3.2] startup +[4.701s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.704s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.704s] [ext: omni.graph.tools-1.79.2] startup +[4.722s] [ext: omni.ui_query-1.1.8] startup +[4.723s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.724s] [ext: omni.graph-1.141.2] startup +[4.759s] [ext: omni.graph.action_core-1.1.7] startup +[4.761s] [ext: omni.kit.ui_test-1.3.7] startup +[4.763s] [ext: omni.kit.browser.core-2.3.13] startup +[4.766s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.769s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.772s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.775s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.785s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.788s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.798s] [ext: omni.graph.action-1.130.0] startup +[4.801s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.804s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.812s] [ext: isaacsim.gui.components-1.2.1] startup +[4.825s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.834s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.992s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.995s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.999s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.076s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:24:59Z [5,059ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.081s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.082s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.085s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.090s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.093s] [ext: omni.graph.image.core-0.6.1] startup +[5.093s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.094s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.095s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.099s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.101s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.102s] [ext: omni.graph.nodes-1.170.10] startup +[5.110s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.113s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.117s] [ext: omni.syntheticdata-0.6.13] startup +[5.143s] [ext: omni.videoencoding-0.1.2] startup +[5.145s] [ext: omni.warp-1.8.2] startup +[5.152s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.171s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.174s] [ext: isaacsim.core.prims-0.6.1] startup +[5.207s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.212s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:24:59Z [5,599ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:24:59Z [5,599ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:24:59Z [5,600ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.623s] [ext: isaacsim.core.api-4.8.0] startup +[5.638s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.678s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.689s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.700s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.709s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.725s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.738s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.758s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.767s] [ext: omni.sensors.net-1.0.0] startup +[5.780s] [ext: isaacsim.app.about-2.0.11] startup +[5.796s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.797s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.800s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.807s] [ext: omni.kit.property.audio-1.0.16] startup +[5.813s] [ext: omni.kit.property.camera-1.0.10] startup +[5.818s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.832s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.842s] [ext: omni.kit.property.light-1.0.12] startup +[5.858s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.860s] [ext: omni.kit.selection-0.1.6] startup +[5.865s] [ext: omni.kit.property.material-1.11.9] startup +[5.931s] [ext: omni.kit.property.transform-1.5.13] startup +[6.039s] [ext: omni.kit.property.render-1.2.1] startup +[6.061s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.072s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.288s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.301s] [ext: isaacsim.gui.property-1.1.3] startup +[6.304s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.308s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.321s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.330s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.368s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.380s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.388s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.395s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.398s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.409s] [ext: omni.kit.window.console-1.1.4] startup +[6.420s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.429s] [ext: omni.ocio-0.1.1] startup +[6.435s] [ext: omni.physx.demos-107.3.26] startup +[6.499s] [ext: omni.kit.property.physx-107.3.26] startup +[6.533s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.537s] [ext: omni.asset_validator.core-1.1.6] startup +[6.587s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.593s] [ext: omni.physx.vehicle-107.3.26] startup +[6.610s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.621s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.626s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.631s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.640s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.647s] [ext: omni.physx.camera-107.3.26] startup +[6.658s] [ext: omni.anim.curve.core-1.3.1] startup +[6.675s] [ext: omni.physx.cct-107.3.26] startup +[6.692s] [ext: omni.physx.graph-107.3.26] startup +[6.712s] [ext: omni.physx.supportui-107.3.26] startup +[6.736s] [ext: omni.physx.telemetry-107.3.26] startup +[6.753s] [ext: isaaclab-0.54.3] startup +[7.044s] [ext: isaaclab_contrib-0.0.2] startup +[7.047s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.050s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.056s] [ext: semantics.schema.property-2.0.1] startup +[7.060s] [ext: omni.physx.bundle-107.3.26] startup +[7.060s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.069s] [ext: isaaclab_assets-0.2.4] startup +[7.404s] [ext: isaaclab_tasks-0.11.14] startup +[7.562s] [ext: omni.kit.menu.common-2.0.1] startup +[7.565s] [ext: isaaclab_rl-0.5.0] startup +[7.568s] [ext: isaaclab_mimic-1.0.16] startup +[7.570s] [ext: isaaclab.python-2.3.2] startup +[7.574s] Simulation App Starting +2026-07-24T14:25:01Z [7,630ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:25:01Z [7,635ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:25:01Z [7,635ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:25:01Z [7,635ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:25:01Z [7,662ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.711s] app ready +[10.873s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-20.log +====================================================================================================== + +22:25:20 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 4 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:20Z [26,890ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:20Z [26,984ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:20Z [26,998ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:20Z [27,008ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.488182 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:21Z [27,021ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,027ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,439ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,439ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,443ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,444ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,445ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +2026-07-24T14:25:21Z [27,445ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55cb5eb7d520:World0.usd@ <0x55cb6b3aaef0>) + +[INFO]: Time taken for simulation start : 0.694383 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:25:31Z [37,269ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:25:41Z [47,978ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:41Z [47,978ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:41Z [47,978ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:41Z [47,978ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:47Z [53,082ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=4 variant=24 rng_seed=204024 piece_order=[2, 1, 3, 0, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece2 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 6, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece0 grasp=left_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=0 +env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[8] +[curobo-ttt] semantic move=5/5 piece=player_piece4 grasp=right_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=8 +env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 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env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=974 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-24-52_semantic-w00-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0002-a000,split=all,layout=4,variant=24,behavior=14/2026-07-24_22-24-52_semantic-w00-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0002-a000,split=all,layout=4,variant=24,behavior=14/2026-07-24_22-24-52_semantic-w00-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0002-a000,split=all,layout=4,variant=24,behavior=14/2026-07-24_22-24-52_semantic-w00-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0002-a000,split=all,layout=4,variant=24,behavior=14/_resume_2026-07-24_22-24-52_semantic-w00-s0002-a000.json (eval completed) +2026-07-24T14:29:15Z [261,699ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:15Z [261,699ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[262.068s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-59_semantic-w03-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-59_semantic-w03-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..21bd574078142f78a90ab091d51e28c3ad0a89b8 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-24-59_semantic-w03-s0002-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-24-59_semantic-w03-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222502.log +[0.059s] [ext: omni.kit.async_engine-0.0.3] startup +[0.179s] [ext: omni.metrics.core-0.0.3] startup +[0.179s] [ext: omni.client.lib-1.1.0] startup +[0.191s] [ext: omni.blobkey-1.1.2] startup +[0.192s] [ext: omni.stats-1.0.1] startup +[0.192s] [ext: omni.datastore-0.0.0] startup +[0.197s] [ext: omni.client-1.3.0] startup +[0.201s] [ext: omni.ujitso.default-1.0.0] startup +[0.202s] [ext: omni.hsscclient-1.1.2] startup +[0.224s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.226s] [ext: omni.assets.plugins-0.0.0] startup +[0.227s] [ext: omni.gpu_foundation-0.0.0] startup +[0.233s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:25:02Z [210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:02Z [210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.234s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:25:02Z [280ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:25:02Z [281ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:25:02Z [281ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:25:02Z [281ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:25:02Z [344ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:25:03Z [1,190ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,190ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,201ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,201ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,289ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,289ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,297ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,297ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,308ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,308ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:03Z [1,309ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 541295 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.603s] [ext: omni.materialx.libs-1.0.7] startup +[2.610s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.611s] [ext: omni.kit.test-2.0.1] startup +[2.652s] [ext: omni.kit.pipapi-0.0.0] startup +[2.653s] [ext: omni.usd.config-1.0.6] startup +[2.655s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.656s] [ext: omni.usd.libs-1.0.1] startup +[2.728s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.728s] [ext: omni.mdl-56.0.3] startup +[2.789s] [ext: omni.iray.libs-0.0.0] startup +[2.795s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.798s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.881s] [ext: omni.kit.telemetry-0.5.2] startup +[2.914s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:25:04Z [2,891ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:04Z [2,891ms] [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) +[2.916s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:25:04Z [2,914ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:04Z [2,914ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:04Z [2,922ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:04Z [2,922ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.947s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.948s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:25:04Z [2,928ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:04Z [2,928ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:04Z [2,929ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:04Z [2,929ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:04Z [2,929ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:04Z [2,929ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.053s] [ext: omni.ui-2.27.1] startup +[3.062s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.063s] [ext: carb.audio-0.1.0] startup +[3.090s] [ext: omni.uiaudio-1.0.0] startup +[3.091s] [ext: omni.kit.uiapp-0.0.0] startup +[3.091s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.093s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.099s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.101s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.103s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.106s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.122s] [ext: omni.usd_resolver-1.0.0] startup +[3.125s] [ext: omni.usd.core-1.5.3] startup +[3.128s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.146s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.152s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.180s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.181s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.181s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.185s] [ext: omni.graph.exec-0.9.6] startup +[3.185s] [ext: omni.kit.actions.core-1.0.0] startup +[3.187s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.188s] [ext: omni.kit.exec.core-0.13.4] startup +[3.189s] [ext: omni.kit.commands-1.4.10] startup +[3.192s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.195s] [ext: omni.activity.core-1.0.3] startup +[3.196s] [ext: omni.resourcemonitor-107.0.1] startup +[3.198s] [ext: omni.timeline-1.0.14] startup +[3.199s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.201s] [ext: usdrt.scenegraph-7.6.1] startup +[3.232s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.233s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.239s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.242s] [ext: omni.usd-1.13.10] startup +[3.263s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.274s] [ext: omni.index.libs-380600.8087.0] startup +[3.274s] [ext: omni.volume-0.5.2] startup +[3.276s] [ext: omni.ujitso.client-0.0.0] startup +[3.276s] [ext: omni.index-1.0.1] startup +[3.277s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.278s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:25:05Z [3,272ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.308s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.310s] [ext: omni.kit.clipboard-1.0.5] startup +[3.310s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.312s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.317s] [ext: omni.kit.menu.core-1.1.2] startup +[3.317s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.320s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.321s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.322s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.323s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.323s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.327s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.328s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.335s] [ext: omni.ui.scene-1.11.5] startup +[3.339s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.339s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.351s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.357s] [ext: omni.kit.context_menu-1.8.6] startup +[3.359s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.363s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.366s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.367s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.368s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.368s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.372s] [ext: omni.kit.material.library-2.0.7] startup +[3.376s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.378s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.380s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.393s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.397s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.401s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.401s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.405s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.408s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.409s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.410s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.412s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.413s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.413s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.419s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.421s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.422s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.424s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.425s] [ext: omni.fabric.commands-1.1.6] startup +[3.427s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.428s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.429s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.430s] [ext: omni.debugdraw-0.1.4] startup +[3.433s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.442s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.442s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.442s] [ext: omni.kvdb-107.3.26] startup +[3.444s] [ext: omni.convexdecomposition-107.3.26] startup +[3.446s] [ext: omni.physx.foundation-107.3.26] startup +[3.447s] [ext: omni.localcache-107.3.26] startup +[3.448s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.449s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.449s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.450s] [ext: omni.usdphysics-107.3.26] startup +[3.451s] [ext: omni.kit.window.file-2.0.5] startup +[3.454s] [ext: omni.physx.cooking-107.3.26] startup +[3.456s] [ext: omni.physics-107.3.26] startup +[3.459s] [ext: omni.kit.window.property-1.12.1] startup +[3.461s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.471s] [ext: omni.physx-107.3.26] startup +[3.479s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.481s] [ext: omni.kit.property.usd-4.5.12] startup +[3.489s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.490s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:25:05Z [3,468ms] [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. +[3.492s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.492s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.503s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.507s] [ext: omni.inspect-1.0.2] startup +[3.508s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.517s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.518s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.524s] [ext: omni.graph.core-2.184.5] startup +[3.526s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.528s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.549s] [ext: omni.physx.commands-107.3.26] startup +[3.553s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.554s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:25:05Z [3,534ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.558s] [ext: omni.physx.ui-107.3.26] startup +[3.586s] [ext: isaacsim.core.version-2.0.6] startup +[3.586s] [ext: omni.physics.tensors-107.3.26] startup +[3.590s] [ext: omni.warp.core-1.8.2] startup +[3.745s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.747s] [ext: isaacsim.storage.native-1.5.1] startup +[3.748s] [ext: omni.physx.tensors-107.3.26] startup +[3.752s] [ext: isaacsim.core.utils-3.5.1] startup +[3.755s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.020s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.021s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.023s] [ext: omni.kit.window.stage-2.6.1] startup +[5.026s] [ext: omni.kit.menu.create-2.0.1] startup +[5.028s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.032s] [ext: omni.kit.scripting-107.3.2] startup +[5.036s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.039s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.039s] [ext: omni.graph.tools-1.79.2] startup +[5.057s] [ext: omni.ui_query-1.1.8] startup +[5.058s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.058s] [ext: omni.graph-1.141.2] startup +[5.093s] [ext: omni.graph.action_core-1.1.7] startup +[5.095s] [ext: omni.kit.ui_test-1.3.7] startup +[5.098s] [ext: omni.kit.browser.core-2.3.13] startup +[5.101s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.105s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.108s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.111s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.122s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.125s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.138s] [ext: omni.graph.action-1.130.0] startup +[5.141s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.146s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.155s] [ext: isaacsim.gui.components-1.2.1] startup +[5.162s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.177s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.272s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.279s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.287s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.353s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:25:07Z [5,337ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.363s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.365s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.368s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.375s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.378s] [ext: omni.graph.image.core-0.6.1] startup +[5.381s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.382s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.384s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.388s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.390s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.392s] [ext: omni.graph.nodes-1.170.10] startup +[5.401s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.406s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.412s] [ext: omni.syntheticdata-0.6.13] startup +[5.441s] [ext: omni.videoencoding-0.1.2] startup +[5.447s] [ext: omni.warp-1.8.2] startup +[5.453s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.474s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.479s] [ext: isaacsim.core.prims-0.6.1] startup +[5.516s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.521s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:25:07Z [5,726ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:25:07Z [5,726ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:25:07Z [5,727ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.756s] [ext: isaacsim.core.api-4.8.0] startup +[5.786s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.841s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.867s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.877s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.890s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.907s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.916s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.936s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.947s] [ext: omni.sensors.net-1.0.0] startup +[5.954s] [ext: isaacsim.app.about-2.0.11] startup +[5.968s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.969s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.977s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.996s] [ext: omni.kit.property.audio-1.0.16] startup +[6.013s] [ext: omni.kit.property.camera-1.0.10] startup +[6.029s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.046s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.060s] [ext: omni.kit.property.light-1.0.12] startup +[6.103s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.107s] [ext: omni.kit.selection-0.1.6] startup +[6.118s] [ext: omni.kit.property.material-1.11.9] startup +[6.161s] [ext: omni.kit.property.transform-1.5.13] startup +[6.175s] [ext: omni.kit.property.render-1.2.1] startup +[6.184s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.190s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.223s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.250s] [ext: isaacsim.gui.property-1.1.3] startup +[6.261s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.269s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.294s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.329s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.376s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.424s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.492s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.519s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.541s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.584s] [ext: omni.kit.window.console-1.1.4] startup +[6.728s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.873s] [ext: omni.ocio-0.1.1] startup +[6.911s] [ext: omni.physx.demos-107.3.26] startup +[7.083s] [ext: omni.kit.property.physx-107.3.26] startup +[7.148s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.157s] [ext: omni.asset_validator.core-1.1.6] startup +[7.272s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.282s] [ext: omni.physx.vehicle-107.3.26] startup +[7.309s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.328s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.333s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.343s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.358s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.366s] [ext: omni.physx.camera-107.3.26] startup +[7.383s] [ext: omni.anim.curve.core-1.3.1] startup +[7.411s] [ext: omni.physx.cct-107.3.26] startup +[7.435s] [ext: omni.physx.graph-107.3.26] startup +[7.462s] [ext: omni.physx.supportui-107.3.26] startup +[7.512s] [ext: omni.physx.telemetry-107.3.26] startup +[7.522s] [ext: isaaclab-0.54.3] startup +[7.842s] [ext: isaaclab_contrib-0.0.2] startup +[7.843s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.845s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.851s] [ext: semantics.schema.property-2.0.1] startup +[7.852s] [ext: omni.physx.bundle-107.3.26] startup +[7.853s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.860s] [ext: isaaclab_assets-0.2.4] startup +[8.147s] [ext: isaaclab_tasks-0.11.14] startup +[8.306s] [ext: omni.kit.menu.common-2.0.1] startup +[8.309s] [ext: isaaclab_rl-0.5.0] startup +[8.312s] [ext: isaaclab_mimic-1.0.16] startup +[8.313s] [ext: isaaclab.python-2.3.2] startup +[8.317s] Simulation App Starting +2026-07-24T14:25:10Z [8,360ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:25:10Z [8,364ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:25:10Z [8,364ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:25:10Z [8,364ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:25:10Z [8,391ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.443s] app ready +[12.333s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-29.log +====================================================================================================== + +22:25:29 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 5 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:30Z [27,983ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:30Z [28,112ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:30Z [28,125ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:30Z [28,135ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.635802 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:30Z [28,148ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,154ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,537ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,538ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,540ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,541ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,541ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +2026-07-24T14:25:30Z [28,542ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5580171db100:World0.usd@ <0x558023a02340>) + +[INFO]: Time taken for simulation start : 0.641549 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:25:39Z [37,815ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:25:40Z [38,356ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:40Z [38,356ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:40Z [38,356ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:40Z [38,356ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:52Z [50,436ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=5 variant=27 rng_seed=205027 piece_order=[3, 1, 0, 2, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=6 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=978 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-24-59_semantic-w03-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0002-a000,split=all,layout=5,variant=27,behavior=17/2026-07-24_22-24-59_semantic-w03-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0002-a000,split=all,layout=5,variant=27,behavior=17/2026-07-24_22-24-59_semantic-w03-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0002-a000,split=all,layout=5,variant=27,behavior=17/2026-07-24_22-24-59_semantic-w03-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0002-a000,split=all,layout=5,variant=27,behavior=17/_resume_2026-07-24_22-24-59_semantic-w03-s0002-a000.json (eval completed) +2026-07-24T14:29:17Z [255,542ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:17Z [255,542ms] [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) +[255.887s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-25-00_semantic-w01-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-25-00_semantic-w01-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..b277eebc6e860ade53ab3054cfde4917ea765f00 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-25-00_semantic-w01-s0002-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54001 +[INFO] device_id = 1 → CUDA_VISIBLE_DEVICES=1 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-25-00_semantic-w01-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222502.log +[0.055s] [ext: omni.kit.async_engine-0.0.3] startup +[0.172s] [ext: omni.metrics.core-0.0.3] startup +[0.172s] [ext: omni.client.lib-1.1.0] startup +[0.184s] [ext: omni.blobkey-1.1.2] startup +[0.185s] [ext: omni.stats-1.0.1] startup +[0.185s] [ext: omni.datastore-0.0.0] startup +[0.190s] [ext: omni.client-1.3.0] startup +[0.195s] [ext: omni.ujitso.default-1.0.0] startup +[0.196s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.218s] [ext: omni.assets.plugins-0.0.0] startup +[0.219s] [ext: omni.gpu_foundation-0.0.0] startup +[0.225s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:25:02Z [204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:02Z [204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.226s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:25:03Z [282ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:25:03Z [283ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:25:03Z [283ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:25:03Z [283ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:25:03Z [372ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:25:05Z [2,230ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,230ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,245ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,245ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,249ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,249ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:05Z [2,259ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 539966 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.859s] [ext: omni.materialx.libs-1.0.7] startup +[2.866s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.867s] [ext: omni.kit.test-2.0.1] startup +[2.906s] [ext: omni.kit.pipapi-0.0.0] startup +[2.906s] [ext: omni.usd.config-1.0.6] startup +[2.909s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.909s] [ext: omni.usd.libs-1.0.1] startup +[2.982s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.982s] [ext: omni.mdl-56.0.3] startup +[3.037s] [ext: omni.iray.libs-0.0.0] startup +[3.041s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.044s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.125s] [ext: omni.kit.telemetry-0.5.2] startup +[3.150s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:25:05Z [3,129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:05Z [3,129ms] [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) +[3.153s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:25:05Z [3,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:05Z [3,145ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:05Z [3,152ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:05Z [3,152ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.175s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.177s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:25:05Z [3,158ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:05Z [3,158ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:05Z [3,159ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:05Z [3,160ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:05Z [3,160ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:05Z [3,160ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.280s] [ext: omni.ui-2.27.1] startup +[3.289s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.290s] [ext: carb.audio-0.1.0] startup +[3.315s] [ext: omni.uiaudio-1.0.0] startup +[3.316s] [ext: omni.kit.uiapp-0.0.0] startup +[3.316s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.318s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.324s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.326s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.329s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.331s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.348s] [ext: omni.usd_resolver-1.0.0] startup +[3.352s] [ext: omni.usd.core-1.5.3] startup +[3.354s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.372s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.379s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.408s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.409s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.409s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.413s] [ext: omni.graph.exec-0.9.6] startup +[3.413s] [ext: omni.kit.actions.core-1.0.0] startup +[3.415s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.416s] [ext: omni.kit.exec.core-0.13.4] startup +[3.417s] [ext: omni.kit.commands-1.4.10] startup +[3.420s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.423s] [ext: omni.activity.core-1.0.3] startup +[3.424s] [ext: omni.resourcemonitor-107.0.1] startup +[3.426s] [ext: omni.timeline-1.0.14] startup +[3.427s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.429s] [ext: usdrt.scenegraph-7.6.1] startup +[3.460s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.461s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.467s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.470s] [ext: omni.usd-1.13.10] startup +[3.491s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.502s] [ext: omni.index.libs-380600.8087.0] startup +[3.502s] [ext: omni.volume-0.5.2] startup +[3.504s] [ext: omni.ujitso.client-0.0.0] startup +[3.505s] [ext: omni.index-1.0.1] startup +[3.505s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.506s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:25:06Z [3,502ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.537s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.538s] [ext: omni.kit.clipboard-1.0.5] startup +[3.539s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.541s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.545s] [ext: omni.kit.menu.core-1.1.2] startup +[3.546s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.548s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.550s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.550s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.551s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.552s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.556s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.556s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.565s] [ext: omni.ui.scene-1.11.5] startup +[3.569s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.570s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.582s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.588s] [ext: omni.kit.context_menu-1.8.6] startup +[3.589s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.593s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.596s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.597s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.598s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.598s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.601s] [ext: omni.kit.material.library-2.0.7] startup +[3.605s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.607s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.609s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.621s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.625s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.629s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.630s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.633s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.636s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.637s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.638s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.640s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.640s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.641s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.646s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.649s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.649s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.651s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.652s] [ext: omni.fabric.commands-1.1.6] startup +[3.654s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.655s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.655s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.656s] [ext: omni.debugdraw-0.1.4] startup +[3.659s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.668s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.668s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.668s] [ext: omni.kvdb-107.3.26] startup +[3.670s] [ext: omni.convexdecomposition-107.3.26] startup +[3.672s] [ext: omni.physx.foundation-107.3.26] startup +[3.673s] [ext: omni.localcache-107.3.26] startup +[3.674s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.675s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.675s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.676s] [ext: omni.usdphysics-107.3.26] startup +[3.677s] [ext: omni.kit.window.file-2.0.5] startup +[3.680s] [ext: omni.physx.cooking-107.3.26] startup +[3.682s] [ext: omni.physics-107.3.26] startup +[3.685s] [ext: omni.kit.window.property-1.12.1] startup +[3.687s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.696s] [ext: omni.physx-107.3.26] startup +[3.704s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.706s] [ext: omni.kit.property.usd-4.5.12] startup +[3.714s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.715s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:25:06Z [3,695ms] [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. +[3.716s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.717s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.728s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.731s] [ext: omni.inspect-1.0.2] startup +[3.732s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.741s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.742s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.748s] [ext: omni.graph.core-2.184.5] startup +[3.751s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.752s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.774s] [ext: omni.physx.commands-107.3.26] startup +[3.778s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.778s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:25:06Z [3,761ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.783s] [ext: omni.physx.ui-107.3.26] startup +[3.809s] [ext: isaacsim.core.version-2.0.6] startup +[3.809s] [ext: omni.physics.tensors-107.3.26] startup +[3.813s] [ext: omni.warp.core-1.8.2] startup +[3.970s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.972s] [ext: isaacsim.storage.native-1.5.1] startup +[3.973s] [ext: omni.physx.tensors-107.3.26] startup +[3.978s] [ext: isaacsim.core.utils-3.5.1] startup +[3.980s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.181s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.182s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.183s] [ext: omni.kit.window.stage-2.6.1] startup +[5.187s] [ext: omni.kit.menu.create-2.0.1] startup +[5.188s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.193s] [ext: omni.kit.scripting-107.3.2] startup +[5.196s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.198s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.199s] [ext: omni.graph.tools-1.79.2] startup +[5.216s] [ext: omni.ui_query-1.1.8] startup +[5.217s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.217s] [ext: omni.graph-1.141.2] startup +[5.252s] [ext: omni.graph.action_core-1.1.7] startup +[5.254s] [ext: omni.kit.ui_test-1.3.7] startup +[5.256s] [ext: omni.kit.browser.core-2.3.13] startup +[5.260s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.263s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.268s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.270s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.282s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.287s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.301s] [ext: omni.graph.action-1.130.0] startup +[5.304s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.310s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.322s] [ext: isaacsim.gui.components-1.2.1] startup +[5.336s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.356s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.441s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.447s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.453s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.542s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:25:08Z [5,529ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.552s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.554s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.558s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.565s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.568s] [ext: omni.graph.image.core-0.6.1] startup +[5.570s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.571s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.573s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.576s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.578s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.580s] [ext: omni.graph.nodes-1.170.10] startup +[5.590s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.595s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.599s] [ext: omni.syntheticdata-0.6.13] startup +[5.629s] [ext: omni.videoencoding-0.1.2] startup +[5.634s] [ext: omni.warp-1.8.2] startup +[5.644s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.660s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.663s] [ext: isaacsim.core.prims-0.6.1] startup +[5.709s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.732s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:25:08Z [5,974ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:25:08Z [5,974ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:25:08Z [5,975ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.001s] [ext: isaacsim.core.api-4.8.0] startup +[6.025s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.092s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.105s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.121s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.130s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.148s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.166s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.187s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.198s] [ext: omni.sensors.net-1.0.0] startup +[6.206s] [ext: isaacsim.app.about-2.0.11] startup +[6.216s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.222s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.237s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.261s] [ext: omni.kit.property.audio-1.0.16] startup +[6.286s] [ext: omni.kit.property.camera-1.0.10] startup +[6.296s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.310s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.330s] [ext: omni.kit.property.light-1.0.12] startup +[6.403s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.409s] [ext: omni.kit.selection-0.1.6] startup +[6.430s] [ext: omni.kit.property.material-1.11.9] startup +[6.511s] [ext: omni.kit.property.transform-1.5.13] startup +[6.546s] [ext: omni.kit.property.render-1.2.1] startup +[6.558s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.573s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.765s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.031s] [ext: isaacsim.gui.property-1.1.3] startup +[7.138s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.169s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.208s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.269s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.344s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.367s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.383s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.395s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.399s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.419s] [ext: omni.kit.window.console-1.1.4] startup +[7.434s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.449s] [ext: omni.ocio-0.1.1] startup +[7.457s] [ext: omni.physx.demos-107.3.26] startup +[7.506s] [ext: omni.kit.property.physx-107.3.26] startup +[7.550s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.560s] [ext: omni.asset_validator.core-1.1.6] startup +[7.663s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.673s] [ext: omni.physx.vehicle-107.3.26] startup +[7.701s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.722s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.729s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.739s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.755s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.763s] [ext: omni.physx.camera-107.3.26] startup +[7.780s] [ext: omni.anim.curve.core-1.3.1] startup +[7.804s] [ext: omni.physx.cct-107.3.26] startup +[7.824s] [ext: omni.physx.graph-107.3.26] startup +[7.850s] [ext: omni.physx.supportui-107.3.26] startup +[7.889s] [ext: omni.physx.telemetry-107.3.26] startup +[7.898s] [ext: isaaclab-0.54.3] startup +[8.174s] [ext: isaaclab_contrib-0.0.2] startup +[8.175s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.178s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.183s] [ext: semantics.schema.property-2.0.1] startup +[8.186s] [ext: omni.physx.bundle-107.3.26] startup +[8.190s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.196s] [ext: isaaclab_assets-0.2.4] startup +[8.492s] [ext: isaaclab_tasks-0.11.14] startup +[8.656s] [ext: omni.kit.menu.common-2.0.1] startup +[8.659s] [ext: isaaclab_rl-0.5.0] startup +[8.661s] [ext: isaaclab_mimic-1.0.16] startup +[8.661s] [ext: isaaclab.python-2.3.2] startup +[8.664s] Simulation App Starting +2026-07-24T14:25:11Z [8,709ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:25:11Z [8,713ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:25:11Z [8,713ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:25:11Z [8,713ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:25:11Z [8,739ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[8.830s] app ready +[12.916s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54001 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54001 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-32.log +====================================================================================================== + +22:25:32 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 5 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:32Z [30,194ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:33Z [30,328ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:33Z [30,341ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:33Z [30,350ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.622176 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:33Z [30,365ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,371ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,804ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,804ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,807ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,808ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,809ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +2026-07-24T14:25:33Z [30,809ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b9512155d0:World0.usd@ <0x55b95da46440>) + +[INFO]: Time taken for simulation start : 0.705206 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:25:43Z [40,918ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:25:49Z [46,554ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:49Z [46,554ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:49Z [46,555ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:49Z [46,555ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:25:56Z [53,691ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=5 variant=25 rng_seed=5025 piece_order=[2, 4, 3, 1, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece2 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=1 +env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=957 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-25-00_semantic-w01-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0002-a000,split=all,layout=5,variant=25,behavior=15/2026-07-24_22-25-00_semantic-w01-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 193 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0002-a000,split=all,layout=5,variant=25,behavior=15/2026-07-24_22-25-00_semantic-w01-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 193 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0002-a000,split=all,layout=5,variant=25,behavior=15/2026-07-24_22-25-00_semantic-w01-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 193 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0002-a000,split=all,layout=5,variant=25,behavior=15/_resume_2026-07-24_22-25-00_semantic-w01-s0002-a000.json (eval completed) +2026-07-24T14:29:17Z [254,809ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:17Z [254,809ms] [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) +[255.174s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-25-19_semantic-w04-s0002-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-25-19_semantic-w04-s0002-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..096cc33acad062009a1929355b8fcb678894bec6 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-25-19_semantic-w04-s0002-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54004 +[INFO] device_id = 4 → CUDA_VISIBLE_DEVICES=4 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-25-19_semantic-w04-s0002-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222521.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.172s] [ext: omni.metrics.core-0.0.3] startup +[0.172s] [ext: omni.client.lib-1.1.0] startup +[0.184s] [ext: omni.blobkey-1.1.2] startup +[0.185s] [ext: omni.stats-1.0.1] startup +[0.185s] [ext: omni.datastore-0.0.0] startup +[0.191s] [ext: omni.client-1.3.0] startup +[0.195s] [ext: omni.ujitso.default-1.0.0] startup +[0.197s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.218s] [ext: omni.assets.plugins-0.0.0] startup +[0.219s] [ext: omni.gpu_foundation-0.0.0] startup +[0.225s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:25:22Z [205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:22Z [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) +[0.226s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:25:22Z [270ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:25:22Z [274ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:25:22Z [274ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:25:22Z [274ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:25:22Z [323ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:25:22Z [942ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [942ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [943ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [943ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [944ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [944ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [945ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [945ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [947ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [947ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:25:22Z [948ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 532059 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.791s] [ext: omni.materialx.libs-1.0.7] startup +[1.798s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.799s] [ext: omni.kit.test-2.0.1] startup +[1.837s] [ext: omni.kit.pipapi-0.0.0] startup +[1.838s] [ext: omni.usd.config-1.0.6] startup +[1.841s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.841s] [ext: omni.usd.libs-1.0.1] startup +[1.914s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.914s] [ext: omni.mdl-56.0.3] startup +[1.970s] [ext: omni.iray.libs-0.0.0] startup +[1.975s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.977s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.061s] [ext: omni.kit.telemetry-0.5.2] startup +[2.104s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:25:24Z [2,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:24Z [2,085ms] [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) +[2.107s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:25:24Z [2,100ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:24Z [2,100ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:24Z [2,108ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:24Z [2,108ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.130s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.132s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:25:24Z [2,114ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:24Z [2,114ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:24Z [2,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:24Z [2,116ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:25:24Z [2,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:25:24Z [2,116ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.460s] [ext: omni.ui-2.27.1] startup +[2.469s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.470s] [ext: carb.audio-0.1.0] startup +[2.497s] [ext: omni.uiaudio-1.0.0] startup +[2.498s] [ext: omni.kit.uiapp-0.0.0] startup +[2.498s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.500s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.505s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.507s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.510s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.512s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.528s] [ext: omni.usd_resolver-1.0.0] startup +[2.531s] [ext: omni.usd.core-1.5.3] startup +[2.534s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.552s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.558s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.586s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.586s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.587s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.590s] [ext: omni.graph.exec-0.9.6] startup +[2.591s] [ext: omni.kit.actions.core-1.0.0] startup +[2.592s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.593s] [ext: omni.kit.exec.core-0.13.4] startup +[2.594s] [ext: omni.kit.commands-1.4.10] startup +[2.597s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.600s] [ext: omni.activity.core-1.0.3] startup +[2.601s] [ext: omni.resourcemonitor-107.0.1] startup +[2.602s] [ext: omni.timeline-1.0.14] startup +[2.604s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.605s] [ext: usdrt.scenegraph-7.6.1] startup +[2.635s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.636s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.641s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.645s] [ext: omni.usd-1.13.10] startup +[2.665s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.674s] [ext: omni.index.libs-380600.8087.0] startup +[2.674s] [ext: omni.volume-0.5.2] startup +[2.676s] [ext: omni.ujitso.client-0.0.0] startup +[2.677s] [ext: omni.index-1.0.1] startup +[2.677s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.678s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:25:24Z [2,673ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.705s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.706s] [ext: omni.kit.clipboard-1.0.5] startup +[2.707s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.709s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.713s] [ext: omni.kit.menu.core-1.1.2] startup +[2.713s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.716s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.717s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.718s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.719s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.719s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.723s] 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omni.kit.window.preferences-1.8.0] startup +[2.788s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.793s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.793s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.797s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.800s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.801s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.802s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.804s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.804s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.805s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.810s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.813s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.813s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.815s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.816s] [ext: omni.fabric.commands-1.1.6] startup +[2.818s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.818s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.820s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.821s] [ext: omni.debugdraw-0.1.4] startup +[2.823s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.832s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.833s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.833s] [ext: omni.kvdb-107.3.26] startup +[2.834s] [ext: omni.convexdecomposition-107.3.26] startup +[2.836s] [ext: omni.physx.foundation-107.3.26] startup +[2.838s] [ext: omni.localcache-107.3.26] startup +[2.839s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.839s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.840s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.840s] [ext: omni.usdphysics-107.3.26] startup +[2.842s] [ext: omni.kit.window.file-2.0.5] startup +[2.844s] [ext: omni.physx.cooking-107.3.26] startup +[2.847s] [ext: omni.physics-107.3.26] startup +[2.849s] [ext: omni.kit.window.property-1.12.1] startup +[2.851s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.861s] [ext: omni.physx-107.3.26] startup +[2.869s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.871s] [ext: omni.kit.property.usd-4.5.12] startup +[2.879s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.880s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:25:24Z [2,861ms] [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. +[2.881s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.882s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.894s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.897s] [ext: omni.inspect-1.0.2] startup +[2.898s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.907s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.908s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.914s] [ext: omni.graph.core-2.184.5] startup +[2.916s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.917s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.939s] [ext: omni.physx.commands-107.3.26] startup +[2.943s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.943s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:25:24Z [2,928ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.948s] [ext: omni.physx.ui-107.3.26] startup +[2.977s] [ext: isaacsim.core.version-2.0.6] startup +[2.977s] [ext: omni.physics.tensors-107.3.26] startup +[2.981s] [ext: omni.warp.core-1.8.2] startup +[3.137s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.139s] [ext: isaacsim.storage.native-1.5.1] startup +[3.140s] [ext: omni.physx.tensors-107.3.26] startup +[3.145s] [ext: isaacsim.core.utils-3.5.1] startup +[3.147s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.435s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.436s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.437s] [ext: omni.kit.window.stage-2.6.1] startup +[4.441s] [ext: omni.kit.menu.create-2.0.1] startup +[4.442s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.447s] [ext: omni.kit.scripting-107.3.2] startup +[4.451s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.454s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.454s] [ext: omni.graph.tools-1.79.2] startup +[4.472s] [ext: omni.ui_query-1.1.8] startup +[4.473s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.473s] [ext: omni.graph-1.141.2] startup +[4.509s] [ext: omni.graph.action_core-1.1.7] startup +[4.510s] [ext: omni.kit.ui_test-1.3.7] startup +[4.513s] [ext: omni.kit.browser.core-2.3.13] startup +[4.517s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.520s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.523s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.526s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.537s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.541s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.552s] [ext: omni.graph.action-1.130.0] startup +[4.556s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.559s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.566s] [ext: isaacsim.gui.components-1.2.1] startup +[4.573s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.579s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.685s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.690s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.697s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.783s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:25:26Z [4,765ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.787s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.789s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.792s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.799s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.802s] [ext: omni.graph.image.core-0.6.1] startup +[4.804s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.805s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.807s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.811s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.813s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.815s] [ext: omni.graph.nodes-1.170.10] startup +[4.824s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.829s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.834s] [ext: omni.syntheticdata-0.6.13] startup +[4.862s] [ext: omni.videoencoding-0.1.2] startup +[4.867s] [ext: omni.warp-1.8.2] startup +[4.873s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.907s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.912s] [ext: isaacsim.core.prims-0.6.1] startup +[4.958s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.967s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:25:27Z [5,104ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:25:27Z [5,104ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:25:27Z [5,104ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.127s] [ext: isaacsim.core.api-4.8.0] startup +[5.143s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.186s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.201s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.211s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.215s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.226s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.235s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.242s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.251s] [ext: omni.sensors.net-1.0.0] startup +[5.256s] [ext: isaacsim.app.about-2.0.11] startup +[5.258s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.259s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.264s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.270s] [ext: omni.kit.property.audio-1.0.16] startup +[5.277s] [ext: omni.kit.property.camera-1.0.10] startup +[5.283s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.295s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.300s] [ext: omni.kit.property.light-1.0.12] startup +[5.337s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.341s] [ext: omni.kit.selection-0.1.6] startup +[5.346s] [ext: omni.kit.property.material-1.11.9] startup +[5.370s] [ext: omni.kit.property.transform-1.5.13] startup +[5.390s] [ext: omni.kit.property.render-1.2.1] startup +[5.425s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.435s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.455s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.472s] [ext: isaacsim.gui.property-1.1.3] startup +[5.480s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.486s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.516s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.538s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.587s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.597s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[5.608s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[5.625s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[5.629s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[5.643s] [ext: omni.kit.window.console-1.1.4] startup +[5.661s] [ext: omni.rtx.window.settings-0.6.19] startup +[5.707s] [ext: omni.ocio-0.1.1] startup +[5.716s] [ext: omni.physx.demos-107.3.26] startup +[6.321s] [ext: omni.kit.property.physx-107.3.26] startup +[6.424s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.460s] [ext: omni.asset_validator.core-1.1.6] startup +[6.669s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.679s] [ext: omni.physx.vehicle-107.3.26] startup +[6.718s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.741s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.748s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.759s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.774s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.783s] [ext: omni.physx.camera-107.3.26] startup +[6.806s] [ext: omni.anim.curve.core-1.3.1] startup +[6.826s] [ext: omni.physx.cct-107.3.26] startup +[6.848s] [ext: omni.physx.graph-107.3.26] startup +[6.872s] [ext: omni.physx.supportui-107.3.26] startup +[6.930s] [ext: omni.physx.telemetry-107.3.26] startup +[6.943s] [ext: isaaclab-0.54.3] startup +[7.240s] [ext: isaaclab_contrib-0.0.2] startup +[7.243s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.246s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.251s] [ext: semantics.schema.property-2.0.1] startup +[7.254s] [ext: omni.physx.bundle-107.3.26] startup +[7.255s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.263s] [ext: isaaclab_assets-0.2.4] startup +[7.546s] [ext: isaaclab_tasks-0.11.14] startup +[7.707s] [ext: omni.kit.menu.common-2.0.1] startup +[7.709s] [ext: isaaclab_rl-0.5.0] startup +[7.712s] [ext: isaaclab_mimic-1.0.16] startup +[7.714s] [ext: isaaclab.python-2.3.2] startup +[7.717s] Simulation App Starting +2026-07-24T14:25:29Z [7,765ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:25:29Z [7,770ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:25:29Z [7,770ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:25:29Z [7,770ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:25:29Z [7,797ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.843s] app ready +[11.890s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54004 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54004 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-25-49.log +====================================================================================================== + +22:25:49 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 6 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:25:49Z [27,732ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:25:49Z [27,859ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:49Z [27,873ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:25:49Z [27,882ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.614078 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:25:49Z [27,894ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:49Z [27,900ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:50Z [28,300ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:50Z [28,300ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:50Z [28,302ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:50Z [28,302ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:50Z [28,303ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +2026-07-24T14:25:50Z [28,303ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623315d7bf0:World0.usd@ <0x56233de7ebb0>) + +[INFO]: Time taken for simulation start : 0.648967 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:26:00Z [39,021ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:26:01Z [39,552ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:26:01Z [39,553ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:26:01Z [39,553ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:26:01Z [39,553ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:26:12Z [50,909ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=6 variant=28 rng_seed=6028 piece_order=[1, 4, 2, 3, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_2 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=2 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[6] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_6 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=6 +env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 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989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1016 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-25-19_semantic-w04-s0002-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0002-a000,split=all,layout=6,variant=28,behavior=18/2026-07-24_22-25-19_semantic-w04-s0002-a000/episode_0000000_cam_head_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0002-a000,split=all,layout=6,variant=28,behavior=18/2026-07-24_22-25-19_semantic-w04-s0002-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0002-a000,split=all,layout=6,variant=28,behavior=18/2026-07-24_22-25-19_semantic-w04-s0002-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0002-a000,split=all,layout=6,variant=28,behavior=18/_resume_2026-07-24_22-25-19_semantic-w04-s0002-a000.json (eval completed) +2026-07-24T14:29:45Z [263,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:45Z [263,099ms] [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) +[263.443s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-28-49_semantic-w02-s0003-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-28-49_semantic-w02-s0003-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..02b75777f76a7c5fabd54081908c193d18d9cfb9 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-28-49_semantic-w02-s0003-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-28-49_semantic-w02-s0003-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222851.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +[0.178s] [ext: omni.metrics.core-0.0.3] startup +[0.179s] [ext: omni.client.lib-1.1.0] startup +[0.191s] [ext: omni.blobkey-1.1.2] startup +[0.191s] [ext: omni.stats-1.0.1] startup +[0.191s] [ext: omni.datastore-0.0.0] startup +[0.197s] [ext: omni.client-1.3.0] startup +[0.201s] [ext: omni.ujitso.default-1.0.0] startup +[0.202s] [ext: omni.hsscclient-1.1.2] startup +[0.234s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.236s] [ext: omni.assets.plugins-0.0.0] startup +[0.237s] [ext: omni.gpu_foundation-0.0.0] startup +[0.243s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:28:51Z [224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:51Z [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) +[0.244s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:28:51Z [277ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:28:51Z [278ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:28:51Z [278ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:28:51Z [278ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:28:51Z [339ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:28:52Z [1,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,044ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,044ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,046ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,046ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,047ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,047ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:28:52Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 522089 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.007s] [ext: omni.materialx.libs-1.0.7] startup +[2.017s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.018s] [ext: omni.kit.test-2.0.1] startup +[2.056s] [ext: omni.kit.pipapi-0.0.0] startup +[2.057s] [ext: omni.usd.config-1.0.6] startup +[2.060s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.060s] [ext: omni.usd.libs-1.0.1] startup +[2.133s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.134s] [ext: omni.mdl-56.0.3] startup +[2.189s] [ext: omni.iray.libs-0.0.0] startup +[2.194s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.196s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.279s] [ext: omni.kit.telemetry-0.5.2] startup +[2.315s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:28:53Z [2,296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:53Z [2,296ms] [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) +[2.318s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:28:53Z [2,314ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:53Z [2,314ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:28:53Z [2,322ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:53Z [2,322ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.343s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.345s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:28:53Z [2,328ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:53Z [2,328ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:28:53Z [2,329ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:53Z [2,329ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:28:53Z [2,329ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:28:53Z [2,329ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.442s] [ext: omni.ui-2.27.1] startup +[2.451s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.452s] [ext: carb.audio-0.1.0] startup +[2.474s] [ext: omni.uiaudio-1.0.0] startup +[2.475s] [ext: omni.kit.uiapp-0.0.0] startup +[2.475s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.478s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.483s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.485s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.488s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.490s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.506s] [ext: omni.usd_resolver-1.0.0] startup +[2.509s] [ext: omni.usd.core-1.5.3] startup +[2.511s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.529s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.535s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.563s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.564s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.564s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.568s] [ext: omni.graph.exec-0.9.6] startup +[2.569s] [ext: omni.kit.actions.core-1.0.0] startup +[2.570s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.571s] [ext: omni.kit.exec.core-0.13.4] startup +[2.572s] [ext: omni.kit.commands-1.4.10] startup +[2.575s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.578s] [ext: omni.activity.core-1.0.3] startup +[2.579s] [ext: omni.resourcemonitor-107.0.1] startup +[2.580s] [ext: omni.timeline-1.0.14] startup +[2.582s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.583s] [ext: usdrt.scenegraph-7.6.1] startup +[2.614s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.616s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.621s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.625s] [ext: omni.usd-1.13.10] startup +[2.647s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.657s] [ext: omni.index.libs-380600.8087.0] startup +[2.657s] [ext: omni.volume-0.5.2] startup +[2.659s] [ext: omni.ujitso.client-0.0.0] startup +[2.659s] [ext: omni.index-1.0.1] startup +[2.659s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.660s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:28:53Z [2,660ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.698s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.700s] [ext: omni.kit.clipboard-1.0.5] startup +[2.701s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.704s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.709s] [ext: omni.kit.menu.core-1.1.2] startup +[2.710s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.714s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.716s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.717s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.718s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.719s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.725s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.726s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.733s] [ext: omni.ui.scene-1.11.5] startup +[2.737s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.737s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.749s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.755s] [ext: omni.kit.context_menu-1.8.6] startup +[2.756s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.760s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.763s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.765s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.766s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.766s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.769s] [ext: omni.kit.material.library-2.0.7] startup +[2.774s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.776s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.777s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.790s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.794s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.798s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.799s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.802s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.806s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.806s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.808s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.810s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.810s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.811s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.817s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.819s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.820s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.822s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.823s] [ext: omni.fabric.commands-1.1.6] startup +[2.825s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.826s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.827s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.828s] [ext: omni.debugdraw-0.1.4] startup +[2.832s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.841s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.842s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.842s] [ext: omni.kvdb-107.3.26] startup +[2.843s] [ext: omni.convexdecomposition-107.3.26] startup +[2.845s] [ext: omni.physx.foundation-107.3.26] startup +[2.846s] [ext: omni.localcache-107.3.26] startup +[2.848s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.848s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.848s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.849s] [ext: omni.usdphysics-107.3.26] startup +[2.851s] [ext: omni.kit.window.file-2.0.5] startup +[2.853s] [ext: omni.physx.cooking-107.3.26] startup +[2.856s] [ext: omni.physics-107.3.26] startup +[2.858s] [ext: omni.kit.window.property-1.12.1] startup +[2.860s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.872s] [ext: omni.physx-107.3.26] startup +[2.880s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.882s] [ext: omni.kit.property.usd-4.5.12] startup +[2.891s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.892s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:28:54Z [2,873ms] [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. +[2.893s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.894s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.905s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.909s] [ext: omni.inspect-1.0.2] startup +[2.910s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.922s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.923s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.929s] [ext: omni.graph.core-2.184.5] startup +[2.932s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.933s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.956s] [ext: omni.physx.commands-107.3.26] startup +[2.960s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.961s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:28:54Z [2,946ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.966s] [ext: omni.physx.ui-107.3.26] startup +[2.993s] [ext: isaacsim.core.version-2.0.6] startup +[2.993s] [ext: omni.physics.tensors-107.3.26] startup +[2.997s] [ext: omni.warp.core-1.8.2] startup +[3.155s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.157s] [ext: isaacsim.storage.native-1.5.1] startup +[3.159s] [ext: omni.physx.tensors-107.3.26] startup +[3.163s] [ext: isaacsim.core.utils-3.5.1] startup +[3.165s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.384s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.385s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.386s] [ext: omni.kit.window.stage-2.6.1] startup +[4.390s] [ext: omni.kit.menu.create-2.0.1] startup +[4.391s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.396s] [ext: omni.kit.scripting-107.3.2] startup +[4.400s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.402s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.403s] [ext: omni.graph.tools-1.79.2] startup +[4.420s] [ext: omni.ui_query-1.1.8] startup +[4.421s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.421s] [ext: omni.graph-1.141.2] startup +[4.456s] [ext: omni.graph.action_core-1.1.7] startup +[4.457s] [ext: omni.kit.ui_test-1.3.7] startup +[4.460s] [ext: omni.kit.browser.core-2.3.13] startup +[4.464s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.467s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.470s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.473s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.485s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.489s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.502s] [ext: omni.graph.action-1.130.0] startup +[4.504s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.509s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.516s] [ext: isaacsim.gui.components-1.2.1] startup +[4.524s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.537s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.633s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.640s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.646s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.734s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:28:55Z [4,717ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.739s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.739s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.743s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.752s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.754s] [ext: omni.graph.image.core-0.6.1] startup +[4.756s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.757s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.760s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.764s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.766s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.769s] [ext: omni.graph.nodes-1.170.10] startup +[4.779s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.785s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.789s] [ext: omni.syntheticdata-0.6.13] startup +[4.822s] [ext: omni.videoencoding-0.1.2] startup +[4.828s] [ext: omni.warp-1.8.2] startup +[4.835s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.860s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.869s] [ext: isaacsim.core.prims-0.6.1] startup +[4.948s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.969s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:28:56Z [5,247ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:28:56Z [5,247ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:28:56Z [5,248ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.272s] [ext: isaacsim.core.api-4.8.0] startup +[5.304s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.371s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.386s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.398s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.407s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.430s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.443s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.459s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.475s] [ext: omni.sensors.net-1.0.0] startup +[5.483s] [ext: isaacsim.app.about-2.0.11] startup +[5.494s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.495s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.501s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.515s] [ext: omni.kit.property.audio-1.0.16] startup +[5.523s] [ext: omni.kit.property.camera-1.0.10] startup +[5.533s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.567s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.582s] [ext: omni.kit.property.light-1.0.12] startup +[5.614s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.621s] [ext: omni.kit.selection-0.1.6] startup +[5.629s] [ext: omni.kit.property.material-1.11.9] startup +[5.679s] [ext: omni.kit.property.transform-1.5.13] startup +[5.705s] [ext: omni.kit.property.render-1.2.1] startup +[5.711s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.718s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.750s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.778s] [ext: isaacsim.gui.property-1.1.3] startup +[5.799s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.810s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.881s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.016s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.252s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.267s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.369s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.472s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.518s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.626s] [ext: omni.kit.window.console-1.1.4] startup +[6.666s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.693s] [ext: omni.ocio-0.1.1] startup +[6.703s] [ext: omni.physx.demos-107.3.26] startup +[6.769s] [ext: omni.kit.property.physx-107.3.26] startup +[6.818s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.828s] [ext: omni.asset_validator.core-1.1.6] startup +[6.929s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.937s] [ext: omni.physx.vehicle-107.3.26] startup +[6.962s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.979s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.985s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.994s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.008s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.016s] [ext: omni.physx.camera-107.3.26] startup +[7.035s] [ext: omni.anim.curve.core-1.3.1] startup +[7.056s] [ext: omni.physx.cct-107.3.26] startup +[7.076s] [ext: omni.physx.graph-107.3.26] startup +[7.114s] [ext: omni.physx.supportui-107.3.26] startup +[7.152s] [ext: omni.physx.telemetry-107.3.26] startup +[7.161s] [ext: isaaclab-0.54.3] startup +[7.492s] [ext: isaaclab_contrib-0.0.2] startup +[7.494s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.497s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.502s] [ext: semantics.schema.property-2.0.1] startup +[7.506s] [ext: omni.physx.bundle-107.3.26] startup +[7.506s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.515s] [ext: isaaclab_assets-0.2.4] startup +[7.800s] [ext: isaaclab_tasks-0.11.14] startup +[7.953s] [ext: omni.kit.menu.common-2.0.1] startup +[7.956s] [ext: isaaclab_rl-0.5.0] startup +[7.959s] [ext: isaaclab_mimic-1.0.16] startup +[7.961s] [ext: isaaclab.python-2.3.2] startup +[7.964s] Simulation App Starting +2026-07-24T14:28:59Z [8,012ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:28:59Z [8,017ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:28:59Z [8,017ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:28:59Z [8,017ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:28:59Z [8,042ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.090s] app ready +[11.909s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-29-19.log +====================================================================================================== + +22:29:19 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 7 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:29:19Z [28,569ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:29:19Z [28,688ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:19Z [28,700ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:19Z [28,709ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.507617 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:29:19Z [28,725ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:19Z [28,730ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:20Z [29,180ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:20Z [29,181ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:20Z [29,183ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:20Z [29,183ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:20Z [29,183ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +2026-07-24T14:29:20Z [29,184ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b095d9a8a0:World0.usd@ <0x55b0a261ba40>) + +[INFO]: Time taken for simulation start : 0.718957 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:29:28Z [37,395ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:29:30Z [39,354ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:30Z [39,354ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:30Z [39,354ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:30Z [39,354ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:40Z [49,266ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=7 variant=33 rng_seed=207033 piece_order=[4, 1, 3, 0, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=8 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 648 / 1100 env0 step: 649 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 2, 3] +[curobo-ttt] semantic move=4/5 piece=player_piece0 grasp=left_side arm=left target=cell_2 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=2 +env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[0] +[curobo-ttt] semantic move=5/5 piece=player_piece2 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 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env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=960 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-28-49_semantic-w02-s0003-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0003-a000,split=all,layout=7,variant=33,behavior=23/2026-07-24_22-28-49_semantic-w02-s0003-a000/episode_0000000_cam_head_success.mp4`, containing 193 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0003-a000,split=all,layout=7,variant=33,behavior=23/2026-07-24_22-28-49_semantic-w02-s0003-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 193 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0003-a000,split=all,layout=7,variant=33,behavior=23/2026-07-24_22-28-49_semantic-w02-s0003-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 193 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0003-a000,split=all,layout=7,variant=33,behavior=23/_resume_2026-07-24_22-28-49_semantic-w02-s0003-a000.json (eval completed) +2026-07-24T14:33:01Z [250,550ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:01Z [250,550ms] [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) +[250.898s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-15_semantic-w05-s0003-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-15_semantic-w05-s0003-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..f83326828cdfce7ff06ffb7d3dcb4da4cf94ebae --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-15_semantic-w05-s0003-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-29-15_semantic-w05-s0003-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222917.log +[0.049s] [ext: omni.kit.async_engine-0.0.3] startup +[0.164s] [ext: omni.metrics.core-0.0.3] startup +[0.164s] [ext: omni.client.lib-1.1.0] startup +[0.176s] [ext: omni.blobkey-1.1.2] startup +[0.176s] [ext: omni.stats-1.0.1] startup +[0.177s] [ext: omni.datastore-0.0.0] startup +[0.182s] [ext: omni.client-1.3.0] startup +[0.186s] [ext: omni.ujitso.default-1.0.0] startup +[0.187s] [ext: omni.hsscclient-1.1.2] startup +[0.209s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.213s] [ext: omni.assets.plugins-0.0.0] startup +[0.214s] [ext: omni.gpu_foundation-0.0.0] startup +[0.220s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:29:18Z [202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:18Z [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) +[0.221s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:29:18Z [259ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:29:18Z [263ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:29:18Z [263ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:29:18Z [263ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:29:18Z [274ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:29:19Z [2,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,127ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,128ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,128ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,129ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,129ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,131ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,131ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:19Z [2,133ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 550371 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.333s] [ext: omni.materialx.libs-1.0.7] startup +[3.341s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.341s] [ext: omni.kit.test-2.0.1] startup +[3.382s] [ext: omni.kit.pipapi-0.0.0] startup +[3.382s] [ext: omni.usd.config-1.0.6] startup +[3.385s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.386s] [ext: omni.usd.libs-1.0.1] startup +[3.464s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.465s] [ext: omni.mdl-56.0.3] startup +[3.522s] [ext: omni.iray.libs-0.0.0] startup +[3.528s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.530s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.617s] [ext: omni.kit.telemetry-0.5.2] startup +[3.665s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:29:21Z [3,648ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [3,648ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.668s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:29:21Z [3,890ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [3,890ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:21Z [3,905ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [3,905ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.924s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.926s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:29:21Z [3,911ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [3,911ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:21Z [3,912ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [3,912ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:21Z [3,912ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [3,912ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.069s] [ext: omni.ui-2.27.1] startup +[4.084s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.086s] [ext: carb.audio-0.1.0] startup +[4.113s] [ext: omni.uiaudio-1.0.0] startup +[4.114s] [ext: omni.kit.uiapp-0.0.0] startup +[4.114s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.117s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.125s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.128s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.133s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.136s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.161s] [ext: omni.usd_resolver-1.0.0] startup +[4.166s] [ext: omni.usd.core-1.5.3] startup +[4.169s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.190s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.197s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.225s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.226s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.226s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.230s] [ext: omni.graph.exec-0.9.6] startup +[4.230s] [ext: omni.kit.actions.core-1.0.0] startup +[4.232s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.232s] [ext: omni.kit.exec.core-0.13.4] startup +[4.233s] [ext: omni.kit.commands-1.4.10] startup +[4.236s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.239s] [ext: omni.activity.core-1.0.3] startup +[4.240s] [ext: omni.resourcemonitor-107.0.1] startup +[4.242s] [ext: omni.timeline-1.0.14] startup +[4.243s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.245s] [ext: usdrt.scenegraph-7.6.1] startup +[4.275s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.276s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.282s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.285s] [ext: omni.usd-1.13.10] startup +[4.306s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.317s] [ext: omni.index.libs-380600.8087.0] startup +[4.317s] [ext: omni.volume-0.5.2] startup +[4.319s] [ext: omni.ujitso.client-0.0.0] startup +[4.319s] [ext: omni.index-1.0.1] startup +[4.320s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.321s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:29:22Z [4,319ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.350s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.351s] [ext: omni.kit.clipboard-1.0.5] startup +[4.352s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.354s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.358s] [ext: omni.kit.menu.core-1.1.2] startup +[4.358s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.361s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.362s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.363s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.363s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.364s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.368s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.368s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.375s] [ext: omni.ui.scene-1.11.5] startup +[4.379s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.379s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.391s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.399s] [ext: omni.kit.context_menu-1.8.6] startup +[4.401s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.404s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.407s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.409s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.409s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.410s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.413s] [ext: omni.kit.material.library-2.0.7] startup +[4.417s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.419s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.420s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.432s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.436s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.440s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.441s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.444s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.447s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.448s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.450s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.451s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.452s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.453s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.458s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.461s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.462s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.464s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.465s] [ext: omni.fabric.commands-1.1.6] startup +[4.467s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.468s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.469s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.470s] [ext: omni.debugdraw-0.1.4] startup +[4.473s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.482s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.483s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.483s] [ext: omni.kvdb-107.3.26] startup +[4.484s] [ext: omni.convexdecomposition-107.3.26] startup +[4.486s] [ext: omni.physx.foundation-107.3.26] startup +[4.487s] [ext: omni.localcache-107.3.26] startup +[4.489s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.489s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.490s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.490s] [ext: omni.usdphysics-107.3.26] startup +[4.492s] [ext: omni.kit.window.file-2.0.5] startup +[4.494s] [ext: omni.physx.cooking-107.3.26] startup +[4.497s] [ext: omni.physics-107.3.26] startup +[4.499s] [ext: omni.kit.window.property-1.12.1] startup +[4.502s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.511s] [ext: omni.physx-107.3.26] startup +[4.519s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.521s] [ext: omni.kit.property.usd-4.5.12] startup +[4.530s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.531s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:29:22Z [4,513ms] [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. +[4.532s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.533s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.544s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.547s] [ext: omni.inspect-1.0.2] startup +[4.548s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.558s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.559s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.564s] [ext: omni.graph.core-2.184.5] startup +[4.566s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.567s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.590s] [ext: omni.physx.commands-107.3.26] startup +[4.594s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.595s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:29:22Z [4,581ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.600s] [ext: omni.physx.ui-107.3.26] startup +[4.627s] [ext: isaacsim.core.version-2.0.6] startup +[4.627s] [ext: omni.physics.tensors-107.3.26] startup +[4.631s] [ext: omni.warp.core-1.8.2] startup +[4.789s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.792s] [ext: isaacsim.storage.native-1.5.1] startup +[4.793s] [ext: omni.physx.tensors-107.3.26] startup +[4.806s] [ext: isaacsim.core.utils-3.5.1] startup +[4.809s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.070s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.071s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.072s] [ext: omni.kit.window.stage-2.6.1] startup +[6.075s] [ext: omni.kit.menu.create-2.0.1] startup +[6.077s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.082s] [ext: omni.kit.scripting-107.3.2] startup +[6.085s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.088s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.088s] [ext: omni.graph.tools-1.79.2] startup +[6.106s] [ext: omni.ui_query-1.1.8] startup +[6.107s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.107s] [ext: omni.graph-1.141.2] startup +[6.142s] [ext: omni.graph.action_core-1.1.7] startup +[6.143s] [ext: omni.kit.ui_test-1.3.7] startup +[6.146s] [ext: omni.kit.browser.core-2.3.13] startup +[6.149s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.152s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.157s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.159s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.173s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.176s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.187s] [ext: omni.graph.action-1.130.0] startup +[6.189s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.194s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.202s] [ext: isaacsim.gui.components-1.2.1] startup +[6.208s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.217s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.307s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.312s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.316s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[6.377s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:29:24Z [6,368ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.388s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.390s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.393s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.399s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.403s] [ext: omni.graph.image.core-0.6.1] startup +[6.404s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.405s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.407s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.409s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.411s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.413s] [ext: omni.graph.nodes-1.170.10] startup +[6.421s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.425s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.430s] [ext: omni.syntheticdata-0.6.13] startup +[6.461s] [ext: omni.videoencoding-0.1.2] startup +[6.467s] [ext: omni.warp-1.8.2] startup +[6.478s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.499s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.500s] [ext: isaacsim.core.prims-0.6.1] startup +[6.546s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.567s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:29:24Z [6,729ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:29:24Z [6,729ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:29:24Z [6,732ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.759s] [ext: isaacsim.core.api-4.8.0] startup +[6.782s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.834s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.843s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.850s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.859s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.876s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.900s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.918s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.924s] [ext: omni.sensors.net-1.0.0] startup +[6.930s] [ext: isaacsim.app.about-2.0.11] startup +[6.933s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.936s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.940s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.948s] [ext: omni.kit.property.audio-1.0.16] startup +[6.960s] [ext: omni.kit.property.camera-1.0.10] startup +[6.971s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.986s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.998s] [ext: omni.kit.property.light-1.0.12] startup +[7.015s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.019s] [ext: omni.kit.selection-0.1.6] startup +[7.034s] [ext: omni.kit.property.material-1.11.9] startup +[7.083s] [ext: omni.kit.property.transform-1.5.13] startup +[7.098s] [ext: omni.kit.property.render-1.2.1] startup +[7.106s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.112s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.183s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.283s] [ext: isaacsim.gui.property-1.1.3] startup +[7.319s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.351s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.452s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.474s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.527s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.537s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.551s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.561s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.569s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.603s] [ext: omni.kit.window.console-1.1.4] startup +[7.618s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.634s] [ext: omni.ocio-0.1.1] startup +[7.637s] [ext: omni.physx.demos-107.3.26] startup +[7.681s] [ext: omni.kit.property.physx-107.3.26] startup +[7.707s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.713s] [ext: omni.asset_validator.core-1.1.6] startup +[7.786s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.794s] [ext: omni.physx.vehicle-107.3.26] startup +[7.817s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.830s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.836s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.845s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.861s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.867s] [ext: omni.physx.camera-107.3.26] startup +[7.880s] [ext: omni.anim.curve.core-1.3.1] startup +[7.903s] [ext: omni.physx.cct-107.3.26] startup +[7.924s] [ext: omni.physx.graph-107.3.26] startup +[7.949s] [ext: omni.physx.supportui-107.3.26] startup +[7.979s] [ext: omni.physx.telemetry-107.3.26] startup +[7.985s] [ext: isaaclab-0.54.3] startup +[8.249s] [ext: isaaclab_contrib-0.0.2] startup +[8.249s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.251s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.255s] [ext: semantics.schema.property-2.0.1] startup +[8.256s] [ext: omni.physx.bundle-107.3.26] startup +[8.258s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.263s] [ext: isaaclab_assets-0.2.4] startup +[8.568s] [ext: isaaclab_tasks-0.11.14] startup +[8.724s] [ext: omni.kit.menu.common-2.0.1] startup +[8.726s] [ext: isaaclab_rl-0.5.0] startup +[8.729s] [ext: isaaclab_mimic-1.0.16] startup +[8.730s] [ext: isaaclab.python-2.3.2] startup +[8.733s] Simulation App Starting +2026-07-24T14:29:26Z [8,782ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:29:26Z [8,786ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:29:26Z [8,786ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:29:26Z [8,786ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:29:26Z [8,812ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T14:29:26Z [8,849ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-07-24T14:29:26Z [8,849ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T14:29:26Z [8,849ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +[8.881s] app ready +[12.676s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-29-45.log +====================================================================================================== + +22:29:45 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 8 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:29:45Z [27,834ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:29:45Z [27,962ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:45Z [27,974ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:45Z [27,984ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.576674 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:29:45Z [27,996ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:45Z [28,001ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:46Z [28,392ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:46Z [28,392ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:46Z [28,394ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:46Z [28,395ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:46Z [28,396ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +2026-07-24T14:29:46Z [28,396ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55965cc41340:World0.usd@ <0x559669492ed0>) + +[INFO]: Time taken for simulation start : 0.634259 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:29:56Z [38,652ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:29:58Z [40,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:58Z [40,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:58Z [40,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:58Z [40,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:08Z [50,455ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=8 variant=36 rng_seed=208036 piece_order=[2, 0, 1, 3, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece2 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[3] +[curobo-ttt] semantic move=5/5 piece=player_piece4 grasp=right_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=966 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-29-15_semantic-w05-s0003-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0003-a000,split=all,layout=8,variant=36,behavior=26/2026-07-24_22-29-15_semantic-w05-s0003-a000/episode_0000000_cam_head_success.mp4`, containing 195 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0003-a000,split=all,layout=8,variant=36,behavior=26/2026-07-24_22-29-15_semantic-w05-s0003-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 195 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0003-a000,split=all,layout=8,variant=36,behavior=26/2026-07-24_22-29-15_semantic-w05-s0003-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 195 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w05-s0003-a000,split=all,layout=8,variant=36,behavior=26/_resume_2026-07-24_22-29-15_semantic-w05-s0003-a000.json (eval completed) +2026-07-24T14:33:33Z [256,141ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:33Z [256,141ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[256.480s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-16_semantic-w06-s0003-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-16_semantic-w06-s0003-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..cf88b8feed96d01f5111d283c4dbff7ccbcd6e20 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-16_semantic-w06-s0003-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-29-16_semantic-w06-s0003-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222918.log +[0.043s] [ext: omni.kit.async_engine-0.0.3] startup +[0.156s] [ext: omni.metrics.core-0.0.3] startup +[0.156s] [ext: omni.client.lib-1.1.0] startup +[0.168s] [ext: omni.blobkey-1.1.2] startup +[0.168s] [ext: omni.stats-1.0.1] startup +[0.169s] [ext: omni.datastore-0.0.0] startup +[0.174s] [ext: omni.client-1.3.0] startup +[0.178s] [ext: omni.ujitso.default-1.0.0] startup +[0.179s] [ext: omni.hsscclient-1.1.2] startup +[0.200s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.202s] [ext: omni.assets.plugins-0.0.0] startup +[0.203s] [ext: omni.gpu_foundation-0.0.0] startup +[0.209s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:29:18Z [192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:18Z [192ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.209s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:29:18Z [238ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:29:18Z [242ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:29:18Z [242ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:29:18Z [242ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:29:19Z [457ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:29:20Z [2,042ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,042ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,043ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,043ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,044ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,044ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,045ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,045ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,046ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,046ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,047ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,047ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:20Z [2,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 548791 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.097s] [ext: omni.materialx.libs-1.0.7] startup +[3.105s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.105s] [ext: omni.kit.test-2.0.1] startup +[3.144s] [ext: omni.kit.pipapi-0.0.0] startup +[3.145s] [ext: omni.usd.config-1.0.6] startup +[3.148s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.148s] [ext: omni.usd.libs-1.0.1] startup +[3.225s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.226s] [ext: omni.mdl-56.0.3] startup +[3.281s] [ext: omni.iray.libs-0.0.0] startup +[3.287s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.289s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.374s] [ext: omni.kit.telemetry-0.5.2] startup +[3.417s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:29:22Z [3,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:22Z [3,401ms] [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) +[3.420s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:29:22Z [3,534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:22Z [3,534ms] [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) +2026-07-24T14:29:22Z [3,587ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:22Z [3,587ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.606s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.611s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:29:22Z [3,600ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:22Z [3,600ms] [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) +2026-07-24T14:29:22Z [3,602ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:22Z [3,602ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:22Z [3,603ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:22Z [3,603ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.782s] [ext: omni.ui-2.27.1] startup +[3.798s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.800s] [ext: carb.audio-0.1.0] startup +[3.827s] [ext: omni.uiaudio-1.0.0] startup +[3.828s] [ext: omni.kit.uiapp-0.0.0] startup +[3.828s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.832s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.841s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.844s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.848s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.852s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.879s] [ext: omni.usd_resolver-1.0.0] startup +[3.884s] [ext: omni.usd.core-1.5.3] startup +[3.887s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.910s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.917s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.944s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.945s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.946s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.949s] [ext: omni.graph.exec-0.9.6] startup +[3.949s] [ext: omni.kit.actions.core-1.0.0] startup +[3.951s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.952s] [ext: omni.kit.exec.core-0.13.4] startup +[3.953s] [ext: omni.kit.commands-1.4.10] startup +[3.956s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.959s] [ext: omni.activity.core-1.0.3] startup +[3.960s] [ext: omni.resourcemonitor-107.0.1] startup +[3.961s] [ext: omni.timeline-1.0.14] startup +[3.963s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.965s] [ext: usdrt.scenegraph-7.6.1] startup +[3.995s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.996s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.001s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.005s] [ext: omni.usd-1.13.10] startup +[4.025s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.036s] [ext: omni.index.libs-380600.8087.0] startup +[4.036s] [ext: omni.volume-0.5.2] startup +[4.038s] [ext: omni.ujitso.client-0.0.0] startup +[4.038s] [ext: omni.index-1.0.1] startup +[4.039s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.040s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:29:22Z [4,039ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.069s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.070s] [ext: omni.kit.clipboard-1.0.5] startup +[4.071s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.073s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.077s] [ext: omni.kit.menu.core-1.1.2] startup +[4.077s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.079s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.081s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.081s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.082s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.083s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.087s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.087s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.094s] [ext: omni.ui.scene-1.11.5] startup +[4.097s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.098s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.110s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.116s] [ext: omni.kit.context_menu-1.8.6] startup +[4.118s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.121s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.124s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.126s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.127s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.127s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.130s] [ext: omni.kit.material.library-2.0.7] startup +[4.134s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.136s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.138s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.151s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.154s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.159s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.159s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.162s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.166s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.166s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.168s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.169s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.170s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.171s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.176s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.178s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.179s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.180s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.181s] [ext: omni.fabric.commands-1.1.6] startup +[4.184s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.184s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.185s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.186s] [ext: omni.debugdraw-0.1.4] startup +[4.189s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.198s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.198s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.198s] [ext: omni.kvdb-107.3.26] startup +[4.200s] [ext: omni.convexdecomposition-107.3.26] startup +[4.202s] [ext: omni.physx.foundation-107.3.26] startup +[4.203s] [ext: omni.localcache-107.3.26] startup +[4.204s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.205s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.205s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.206s] [ext: omni.usdphysics-107.3.26] startup +[4.207s] [ext: omni.kit.window.file-2.0.5] startup +[4.210s] [ext: omni.physx.cooking-107.3.26] startup +[4.212s] [ext: omni.physics-107.3.26] startup +[4.215s] [ext: omni.kit.window.property-1.12.1] startup +[4.217s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.226s] [ext: omni.physx-107.3.26] startup +[4.235s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.236s] [ext: omni.kit.property.usd-4.5.12] startup +[4.245s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.246s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:29:22Z [4,230ms] [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. +[4.247s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.248s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.259s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.262s] [ext: omni.inspect-1.0.2] startup +[4.263s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.272s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.273s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.278s] [ext: omni.graph.core-2.184.5] startup +[4.281s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.282s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.304s] [ext: omni.physx.commands-107.3.26] startup +[4.308s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.309s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:29:22Z [4,296ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.313s] [ext: omni.physx.ui-107.3.26] startup +[4.339s] [ext: isaacsim.core.version-2.0.6] startup +[4.339s] [ext: omni.physics.tensors-107.3.26] startup +[4.343s] [ext: omni.warp.core-1.8.2] startup +[4.498s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.499s] [ext: isaacsim.storage.native-1.5.1] startup +[4.500s] [ext: omni.physx.tensors-107.3.26] startup +[4.603s] [ext: isaacsim.core.utils-3.5.1] startup +[4.611s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.931s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.932s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.933s] [ext: omni.kit.window.stage-2.6.1] startup +[5.937s] [ext: omni.kit.menu.create-2.0.1] startup +[5.938s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.943s] [ext: omni.kit.scripting-107.3.2] startup +[5.946s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.949s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.949s] [ext: omni.graph.tools-1.79.2] startup +[5.967s] [ext: omni.ui_query-1.1.8] startup +[5.967s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.968s] [ext: omni.graph-1.141.2] startup +[6.002s] [ext: omni.graph.action_core-1.1.7] startup +[6.004s] [ext: omni.kit.ui_test-1.3.7] startup +[6.006s] [ext: omni.kit.browser.core-2.3.13] startup +[6.010s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.013s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.016s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.019s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.030s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.034s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.045s] [ext: omni.graph.action-1.130.0] startup +[6.049s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.054s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.065s] [ext: isaacsim.gui.components-1.2.1] startup +[6.072s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.079s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.198s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.202s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.209s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[6.288s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:29:24Z [6,279ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.298s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.298s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.301s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.308s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.311s] [ext: omni.graph.image.core-0.6.1] startup +[6.313s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.314s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.316s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.320s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.322s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.323s] [ext: omni.graph.nodes-1.170.10] startup +[6.331s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.335s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.340s] [ext: omni.syntheticdata-0.6.13] startup +[6.365s] [ext: omni.videoencoding-0.1.2] startup +[6.368s] [ext: omni.warp-1.8.2] startup +[6.374s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.392s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.393s] [ext: isaacsim.core.prims-0.6.1] startup +[6.432s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.441s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:29:25Z [6,628ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:29:25Z [6,628ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:29:25Z [6,629ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.650s] [ext: isaacsim.core.api-4.8.0] startup +[6.674s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.728s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.735s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.744s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.753s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.765s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.781s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.798s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.810s] [ext: omni.sensors.net-1.0.0] startup +[6.817s] [ext: isaacsim.app.about-2.0.11] startup +[6.820s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.822s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.828s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.846s] [ext: omni.kit.property.audio-1.0.16] startup +[6.866s] [ext: omni.kit.property.camera-1.0.10] startup +[6.875s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.888s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.898s] [ext: omni.kit.property.light-1.0.12] startup +[6.918s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.923s] [ext: omni.kit.selection-0.1.6] startup +[6.926s] [ext: omni.kit.property.material-1.11.9] startup +[6.960s] [ext: omni.kit.property.transform-1.5.13] startup +[6.974s] [ext: omni.kit.property.render-1.2.1] startup +[6.980s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.986s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.033s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.103s] [ext: isaacsim.gui.property-1.1.3] startup +[7.148s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.157s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.217s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.262s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.360s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.489s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.535s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.553s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.561s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.597s] [ext: omni.kit.window.console-1.1.4] startup +[7.619s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.639s] [ext: omni.ocio-0.1.1] startup +[7.643s] [ext: omni.physx.demos-107.3.26] startup +[7.694s] [ext: omni.kit.property.physx-107.3.26] startup +[7.728s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.733s] [ext: omni.asset_validator.core-1.1.6] startup +[7.792s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.798s] [ext: omni.physx.vehicle-107.3.26] startup +[7.814s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.826s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.832s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.837s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.844s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.850s] [ext: omni.physx.camera-107.3.26] startup +[7.859s] [ext: omni.anim.curve.core-1.3.1] startup +[7.875s] [ext: omni.physx.cct-107.3.26] startup +[7.893s] [ext: omni.physx.graph-107.3.26] startup +[7.915s] [ext: omni.physx.supportui-107.3.26] startup +[7.941s] [ext: omni.physx.telemetry-107.3.26] startup +[7.948s] [ext: isaaclab-0.54.3] startup +[8.186s] [ext: isaaclab_contrib-0.0.2] startup +[8.189s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.191s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.196s] [ext: semantics.schema.property-2.0.1] startup +[8.199s] [ext: omni.physx.bundle-107.3.26] startup +[8.201s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.206s] [ext: isaaclab_assets-0.2.4] startup +[8.480s] [ext: isaaclab_tasks-0.11.14] startup +[8.640s] [ext: omni.kit.menu.common-2.0.1] startup +[8.643s] [ext: isaaclab_rl-0.5.0] startup +[8.644s] [ext: isaaclab_mimic-1.0.16] startup +[8.646s] [ext: isaaclab.python-2.3.2] startup +[8.648s] Simulation App Starting +2026-07-24T14:29:27Z [8,702ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:29:27Z [8,706ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:29:27Z [8,706ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:29:27Z [8,706ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:29:27Z [8,730ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[8.785s] app ready +[12.274s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-29-46.log +====================================================================================================== + +22:29:46 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 9 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:29:46Z [28,202ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:29:46Z [28,319ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:46Z [28,332ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:46Z [28,342ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.540613 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:29:46Z [28,354ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:46Z [28,360ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:47Z [28,794ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:47Z [28,795ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:47Z [28,800ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:47Z [28,800ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:47Z [28,801ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +2026-07-24T14:29:47Z [28,801ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55d9104c7a70:World0.usd@ <0x55d91cd17f20>) + +[INFO]: Time taken for simulation start : 0.700249 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:29:56Z [38,177ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:29:57Z [38,515ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:57Z [38,515ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:57Z [38,515ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:29:57Z [38,515ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:09Z [50,595ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=9 variant=37 rng_seed=9037 piece_order=[4, 1, 2, 0, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_2 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=2 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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216 / 1100 env0 step: 217 / 1100 [curobo-ttt] opponent=1/4 complete placed=2 empty=[0, 1, 3, 4, 5, 6, 8] +[curobo-ttt] semantic move=2/5 piece=player_piece1 grasp=far_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=3 +env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 / 1100 env0 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empty=[0, 1, 4, 5, 8] +[curobo-ttt] semantic move=3/5 piece=player_piece2 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 430 / 1100 env0 step: 431 / 1100 env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 env0 step: 461 / 1100 env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 env0 step: 465 / 1100 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env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 1, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece0 grasp=left_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=1 +env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[8] +[curobo-ttt] semantic move=5/5 piece=player_piece3 grasp=right_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=8 +env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 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env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=978 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-29-16_semantic-w06-s0003-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0003-a000,split=all,layout=9,variant=37,behavior=27/2026-07-24_22-29-16_semantic-w06-s0003-a000/episode_0000000_cam_head_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0003-a000,split=all,layout=9,variant=37,behavior=27/2026-07-24_22-29-16_semantic-w06-s0003-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0003-a000,split=all,layout=9,variant=37,behavior=27/2026-07-24_22-29-16_semantic-w06-s0003-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0003-a000,split=all,layout=9,variant=37,behavior=27/_resume_2026-07-24_22-29-16_semantic-w06-s0003-a000.json (eval completed) +2026-07-24T14:33:35Z [257,119ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:35Z [257,119ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[257.454s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-18_semantic-w00-s0003-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-18_semantic-w00-s0003-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..5399ad745ea6404919b10aec0067ef8b3838bdc2 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-18_semantic-w00-s0003-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-29-18_semantic-w00-s0003-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222920.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.180s] [ext: omni.metrics.core-0.0.3] startup +[0.181s] [ext: omni.client.lib-1.1.0] startup +[0.193s] [ext: omni.blobkey-1.1.2] startup +[0.193s] [ext: omni.stats-1.0.1] startup +[0.194s] [ext: omni.datastore-0.0.0] startup +[0.199s] [ext: omni.client-1.3.0] startup +[0.204s] [ext: omni.ujitso.default-1.0.0] startup +[0.205s] [ext: omni.hsscclient-1.1.2] startup +[0.227s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.229s] [ext: omni.assets.plugins-0.0.0] startup +[0.230s] [ext: omni.gpu_foundation-0.0.0] startup +[0.236s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:29:20Z [217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:20Z [217ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.237s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:29:20Z [284ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:29:20Z [285ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:29:20Z [285ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:29:20Z [285ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:29:20Z [321ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:29:22Z [1,873ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,874ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,877ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,877ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,884ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,884ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,889ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,889ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,891ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,891ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,892ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,892ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:22Z [1,893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 547751 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.237s] [ext: omni.materialx.libs-1.0.7] startup +[3.244s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.245s] [ext: omni.kit.test-2.0.1] startup +[3.284s] [ext: omni.kit.pipapi-0.0.0] startup +[3.284s] [ext: omni.usd.config-1.0.6] startup +[3.287s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.287s] [ext: omni.usd.libs-1.0.1] startup +[3.359s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.359s] [ext: omni.mdl-56.0.3] startup +[3.415s] [ext: omni.iray.libs-0.0.0] startup +[3.420s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.422s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.505s] [ext: omni.kit.telemetry-0.5.2] startup +[3.538s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:29:24Z [3,519ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:24Z [3,519ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.541s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:29:24Z [3,587ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:24Z [3,587ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:24Z [3,615ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:24Z [3,615ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.636s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.638s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:29:24Z [3,621ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:24Z [3,621ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:24Z [3,622ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:24Z [3,622ms] [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) +2026-07-24T14:29:24Z [3,623ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:24Z [3,623ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.756s] [ext: omni.ui-2.27.1] startup +[3.769s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.770s] [ext: carb.audio-0.1.0] startup +[3.798s] [ext: omni.uiaudio-1.0.0] startup +[3.799s] [ext: omni.kit.uiapp-0.0.0] startup +[3.799s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.804s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.811s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.814s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.817s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.820s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.842s] [ext: omni.usd_resolver-1.0.0] startup +[3.846s] [ext: omni.usd.core-1.5.3] startup +[3.849s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.870s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.876s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.903s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.903s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.904s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.907s] [ext: omni.graph.exec-0.9.6] startup +[3.908s] [ext: omni.kit.actions.core-1.0.0] startup +[3.909s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.910s] [ext: omni.kit.exec.core-0.13.4] startup +[3.911s] [ext: omni.kit.commands-1.4.10] startup +[3.914s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.917s] [ext: omni.activity.core-1.0.3] startup +[3.918s] [ext: omni.resourcemonitor-107.0.1] startup +[3.919s] [ext: omni.timeline-1.0.14] startup +[3.921s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.922s] [ext: usdrt.scenegraph-7.6.1] startup +[3.952s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.953s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.958s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.961s] [ext: omni.usd-1.13.10] startup +[3.981s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.991s] [ext: omni.index.libs-380600.8087.0] startup +[3.991s] [ext: omni.volume-0.5.2] startup +[3.993s] [ext: omni.ujitso.client-0.0.0] startup +[3.993s] [ext: omni.index-1.0.1] startup +[3.994s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.995s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:29:24Z [3,990ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.022s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.023s] [ext: omni.kit.clipboard-1.0.5] startup +[4.024s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.026s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.030s] [ext: omni.kit.menu.core-1.1.2] startup +[4.030s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.032s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.034s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.034s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.035s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.036s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.039s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.040s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.046s] [ext: omni.ui.scene-1.11.5] startup +[4.050s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.050s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.061s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.067s] [ext: omni.kit.context_menu-1.8.6] startup +[4.068s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.072s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.074s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.076s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.077s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.077s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.080s] [ext: omni.kit.material.library-2.0.7] startup +[4.083s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.085s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.087s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.099s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.102s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.106s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.107s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.110s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.113s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.114s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.115s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.117s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.117s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.118s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.123s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.125s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.126s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.127s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.128s] [ext: omni.fabric.commands-1.1.6] startup +[4.130s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.131s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.132s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.133s] [ext: omni.debugdraw-0.1.4] startup +[4.136s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.144s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.145s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.145s] [ext: omni.kvdb-107.3.26] startup +[4.146s] [ext: omni.convexdecomposition-107.3.26] startup +[4.148s] [ext: omni.physx.foundation-107.3.26] startup +[4.149s] [ext: omni.localcache-107.3.26] startup +[4.150s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.151s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.151s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.152s] [ext: omni.usdphysics-107.3.26] startup +[4.153s] [ext: omni.kit.window.file-2.0.5] startup +[4.156s] [ext: omni.physx.cooking-107.3.26] startup +[4.158s] [ext: omni.physics-107.3.26] startup +[4.160s] [ext: omni.kit.window.property-1.12.1] startup +[4.162s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.171s] [ext: omni.physx-107.3.26] startup +[4.179s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.181s] [ext: omni.kit.property.usd-4.5.12] startup +[4.189s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.190s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:29:24Z [4,171ms] [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. +[4.191s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.192s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.202s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.205s] [ext: omni.inspect-1.0.2] startup +[4.206s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.215s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.216s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.221s] [ext: omni.graph.core-2.184.5] startup +[4.223s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.224s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.246s] [ext: omni.physx.commands-107.3.26] startup +[4.250s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.251s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:29:24Z [4,235ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.255s] [ext: omni.physx.ui-107.3.26] startup +[4.280s] [ext: isaacsim.core.version-2.0.6] startup +[4.280s] [ext: omni.physics.tensors-107.3.26] startup +[4.284s] [ext: omni.warp.core-1.8.2] startup +[4.437s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.438s] [ext: isaacsim.storage.native-1.5.1] startup +[4.440s] [ext: omni.physx.tensors-107.3.26] startup +[4.499s] [ext: isaacsim.core.utils-3.5.1] startup +[4.501s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.682s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.683s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.685s] [ext: omni.kit.window.stage-2.6.1] startup +[5.689s] [ext: omni.kit.menu.create-2.0.1] startup +[5.690s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.696s] [ext: omni.kit.scripting-107.3.2] startup +[5.699s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.702s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.703s] [ext: omni.graph.tools-1.79.2] startup +[5.721s] [ext: omni.ui_query-1.1.8] startup +[5.722s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.722s] [ext: omni.graph-1.141.2] startup +[5.758s] [ext: omni.graph.action_core-1.1.7] startup +[5.759s] [ext: omni.kit.ui_test-1.3.7] startup +[5.762s] [ext: omni.kit.browser.core-2.3.13] startup +[5.766s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.769s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.773s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.778s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.788s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.791s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.806s] [ext: omni.graph.action-1.130.0] startup +[5.810s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.815s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.826s] [ext: isaacsim.gui.components-1.2.1] startup +[5.837s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.842s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.922s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.926s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.933s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.991s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:29:26Z [5,976ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.999s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.001s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.004s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.011s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.014s] [ext: omni.graph.image.core-0.6.1] startup +[6.017s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.017s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.020s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.022s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.024s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.025s] [ext: omni.graph.nodes-1.170.10] startup +[6.033s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.039s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.044s] [ext: omni.syntheticdata-0.6.13] startup +[6.076s] [ext: omni.videoencoding-0.1.2] startup +[6.079s] [ext: omni.warp-1.8.2] startup +[6.088s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.113s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.124s] [ext: isaacsim.core.prims-0.6.1] startup +[6.206s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.225s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:29:27Z [6,500ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:29:27Z [6,500ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:29:27Z [6,501ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.525s] [ext: isaacsim.core.api-4.8.0] startup +[6.553s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.616s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.633s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.640s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.649s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.662s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.667s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.682s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.693s] [ext: omni.sensors.net-1.0.0] startup +[6.705s] [ext: isaacsim.app.about-2.0.11] startup +[6.712s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.714s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.719s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.728s] [ext: omni.kit.property.audio-1.0.16] startup +[6.747s] [ext: omni.kit.property.camera-1.0.10] startup +[6.762s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.777s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.793s] [ext: omni.kit.property.light-1.0.12] startup +[6.817s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.820s] [ext: omni.kit.selection-0.1.6] startup +[6.825s] [ext: omni.kit.property.material-1.11.9] startup +[6.879s] [ext: omni.kit.property.transform-1.5.13] startup +[6.910s] [ext: omni.kit.property.render-1.2.1] startup +[6.948s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.955s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.028s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.093s] [ext: isaacsim.gui.property-1.1.3] startup +[7.121s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.150s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.192s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.258s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.306s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.315s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.325s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.335s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.340s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.352s] [ext: omni.kit.window.console-1.1.4] startup +[7.365s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.374s] [ext: omni.ocio-0.1.1] startup +[7.378s] [ext: omni.physx.demos-107.3.26] startup +[7.424s] [ext: omni.kit.property.physx-107.3.26] startup +[7.448s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.458s] [ext: omni.asset_validator.core-1.1.6] startup +[7.511s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.518s] [ext: omni.physx.vehicle-107.3.26] startup +[7.535s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.546s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.549s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.555s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.567s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.573s] [ext: omni.physx.camera-107.3.26] startup +[7.583s] [ext: omni.anim.curve.core-1.3.1] startup +[7.596s] [ext: omni.physx.cct-107.3.26] startup +[7.613s] [ext: omni.physx.graph-107.3.26] startup +[7.639s] [ext: omni.physx.supportui-107.3.26] startup +[7.659s] [ext: omni.physx.telemetry-107.3.26] startup +[7.668s] [ext: isaaclab-0.54.3] startup +[7.886s] [ext: isaaclab_contrib-0.0.2] startup +[7.890s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.891s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.896s] [ext: semantics.schema.property-2.0.1] startup +[7.898s] [ext: omni.physx.bundle-107.3.26] startup +[7.899s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.906s] [ext: isaaclab_assets-0.2.4] startup +[8.234s] [ext: isaaclab_tasks-0.11.14] startup +[8.388s] [ext: omni.kit.menu.common-2.0.1] startup +[8.390s] [ext: isaaclab_rl-0.5.0] startup +[8.393s] [ext: isaaclab_mimic-1.0.16] startup +[8.395s] [ext: isaaclab.python-2.3.2] startup +[8.399s] Simulation App Starting +2026-07-24T14:29:28Z [8,451ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:29:28Z [8,455ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:29:28Z [8,455ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:29:28Z [8,455ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:29:28Z [8,479ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.524s] app ready +[12.639s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-29-49.log +====================================================================================================== + +22:29:49 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 7 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:29:49Z [29,093ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:29:49Z [29,222ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:49Z [29,235ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:49Z [29,244ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.573835 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:29:49Z [29,257ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:49Z [29,262ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:50Z [29,716ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:50Z [29,716ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:50Z [29,719ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:50Z [29,719ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:50Z [29,720ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +2026-07-24T14:29:50Z [29,720ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de38db5750:World0.usd@ <0x55de4563d090>) + +[INFO]: Time taken for simulation start : 0.708773 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:30:00Z [40,384ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:30:01Z [40,820ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:01Z [40,820ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:01Z [40,820ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:01Z [40,820ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:12Z [51,762ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=7 variant=31 rng_seed=7031 piece_order=[4, 1, 2, 3, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 / 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[0] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=0 +env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=985 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-29-18_semantic-w00-s0003-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0003-a000,split=all,layout=7,variant=31,behavior=21/2026-07-24_22-29-18_semantic-w00-s0003-a000/episode_0000000_cam_head_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0003-a000,split=all,layout=7,variant=31,behavior=21/2026-07-24_22-29-18_semantic-w00-s0003-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0003-a000,split=all,layout=7,variant=31,behavior=21/2026-07-24_22-29-18_semantic-w00-s0003-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0003-a000,split=all,layout=7,variant=31,behavior=21/_resume_2026-07-24_22-29-18_semantic-w00-s0003-a000.json (eval completed) +2026-07-24T14:33:37Z [257,467ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:37Z [257,467ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[257.808s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-19_semantic-w03-s0003-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-19_semantic-w03-s0003-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..121a58b4d607417edc5cc19b8b1be76ea2c0232e --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-29-19_semantic-w03-s0003-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-29-19_semantic-w03-s0003-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_222921.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.170s] [ext: omni.metrics.core-0.0.3] startup +[0.170s] [ext: omni.client.lib-1.1.0] startup +[0.182s] [ext: omni.blobkey-1.1.2] startup +[0.182s] [ext: omni.stats-1.0.1] startup +[0.183s] [ext: omni.datastore-0.0.0] startup +[0.188s] [ext: omni.client-1.3.0] startup +[0.191s] [ext: omni.ujitso.default-1.0.0] startup +[0.193s] [ext: omni.hsscclient-1.1.2] startup +[0.214s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.216s] [ext: omni.assets.plugins-0.0.0] startup +[0.217s] [ext: omni.gpu_foundation-0.0.0] startup +[0.223s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:29:21Z [201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:21Z [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) +[0.224s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:29:21Z [265ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:29:21Z [269ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:29:21Z [269ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:29:21Z [269ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:29:21Z [437ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:29:23Z [2,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,244ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,244ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,251ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,251ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,263ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,263ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,270ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,270ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,275ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,275ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,275ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:29:23Z [2,275ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:29:23Z [2,275ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 546928 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.563s] [ext: omni.materialx.libs-1.0.7] startup +[3.571s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.572s] [ext: omni.kit.test-2.0.1] startup +[3.611s] [ext: omni.kit.pipapi-0.0.0] startup +[3.611s] [ext: omni.usd.config-1.0.6] startup +[3.614s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.615s] [ext: omni.usd.libs-1.0.1] startup +[3.690s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.691s] [ext: omni.mdl-56.0.3] startup +[3.745s] [ext: omni.iray.libs-0.0.0] startup +[3.751s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.753s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.838s] [ext: omni.kit.telemetry-0.5.2] startup +[3.870s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:29:25Z [3,849ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:25Z [3,849ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.873s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:29:25Z [3,864ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:25Z [3,864ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:25Z [3,872ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:25Z [3,872ms] [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) +[3.896s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.898s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:29:25Z [3,878ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:25Z [3,878ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:29:25Z [3,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:25Z [3,879ms] [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) +2026-07-24T14:29:25Z [3,880ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:29:25Z [3,880ms] [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) +[4.013s] [ext: omni.ui-2.27.1] startup +[4.022s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.023s] [ext: carb.audio-0.1.0] startup +[4.047s] [ext: omni.uiaudio-1.0.0] startup +[4.048s] [ext: omni.kit.uiapp-0.0.0] startup +[4.048s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.050s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.055s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.057s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.060s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.062s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.079s] [ext: omni.usd_resolver-1.0.0] startup +[4.082s] [ext: omni.usd.core-1.5.3] startup +[4.085s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.103s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.109s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.137s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.138s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.138s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.142s] [ext: omni.graph.exec-0.9.6] startup +[4.142s] [ext: omni.kit.actions.core-1.0.0] startup +[4.144s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.144s] [ext: omni.kit.exec.core-0.13.4] startup +[4.146s] [ext: omni.kit.commands-1.4.10] startup +[4.149s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.152s] [ext: omni.activity.core-1.0.3] startup +[4.153s] [ext: omni.resourcemonitor-107.0.1] startup +[4.154s] [ext: omni.timeline-1.0.14] startup +[4.156s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.158s] [ext: usdrt.scenegraph-7.6.1] startup +[4.190s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.191s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.197s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.201s] [ext: omni.usd-1.13.10] startup +[4.221s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.232s] [ext: omni.index.libs-380600.8087.0] startup +[4.232s] [ext: omni.volume-0.5.2] startup +[4.234s] [ext: omni.ujitso.client-0.0.0] startup +[4.234s] [ext: omni.index-1.0.1] startup +[4.235s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.235s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:29:25Z [4,230ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.265s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.267s] [ext: omni.kit.clipboard-1.0.5] startup +[4.267s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.269s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.274s] [ext: omni.kit.menu.core-1.1.2] startup +[4.274s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.276s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.278s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.278s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.279s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.280s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.284s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.285s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.291s] [ext: omni.ui.scene-1.11.5] startup +[4.295s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.295s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.307s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.313s] [ext: omni.kit.context_menu-1.8.6] startup +[4.314s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.318s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.320s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.322s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.323s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.323s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.326s] [ext: omni.kit.material.library-2.0.7] startup +[4.330s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.332s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.334s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.346s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.350s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.354s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.354s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.357s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.361s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.361s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.363s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.364s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.365s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.366s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.371s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.373s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.374s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.375s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.376s] [ext: omni.fabric.commands-1.1.6] startup +[4.379s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.379s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.380s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.381s] [ext: omni.debugdraw-0.1.4] startup +[4.384s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.393s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.393s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.393s] [ext: omni.kvdb-107.3.26] startup +[4.394s] [ext: omni.convexdecomposition-107.3.26] startup +[4.397s] [ext: omni.physx.foundation-107.3.26] startup +[4.398s] [ext: omni.localcache-107.3.26] startup +[4.399s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.400s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.400s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.401s] [ext: omni.usdphysics-107.3.26] startup +[4.402s] [ext: omni.kit.window.file-2.0.5] startup +[4.405s] [ext: omni.physx.cooking-107.3.26] startup +[4.407s] [ext: omni.physics-107.3.26] startup +[4.410s] [ext: omni.kit.window.property-1.12.1] startup +[4.412s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.421s] [ext: omni.physx-107.3.26] startup +[4.432s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.434s] [ext: omni.kit.property.usd-4.5.12] startup +[4.443s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.444s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:29:25Z [4,423ms] [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. +[4.446s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.446s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.458s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.461s] [ext: omni.inspect-1.0.2] startup +[4.462s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.472s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.473s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.478s] [ext: omni.graph.core-2.184.5] startup +[4.480s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.482s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.503s] [ext: omni.physx.commands-107.3.26] startup +[4.507s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.508s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:29:25Z [4,490ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.513s] [ext: omni.physx.ui-107.3.26] startup +[4.539s] [ext: isaacsim.core.version-2.0.6] startup +[4.540s] [ext: omni.physics.tensors-107.3.26] startup +[4.544s] [ext: omni.warp.core-1.8.2] startup +[4.701s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.703s] [ext: isaacsim.storage.native-1.5.1] startup +[4.704s] [ext: omni.physx.tensors-107.3.26] startup +[4.708s] [ext: isaacsim.core.utils-3.5.1] startup +[4.711s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.003s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.004s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.005s] [ext: omni.kit.window.stage-2.6.1] startup +[6.011s] [ext: omni.kit.menu.create-2.0.1] startup +[6.012s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.017s] [ext: omni.kit.scripting-107.3.2] startup +[6.021s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.024s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.024s] [ext: omni.graph.tools-1.79.2] startup +[6.042s] [ext: omni.ui_query-1.1.8] startup +[6.043s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.043s] [ext: omni.graph-1.141.2] startup +[6.082s] [ext: omni.graph.action_core-1.1.7] startup +[6.084s] [ext: omni.kit.ui_test-1.3.7] startup +[6.086s] [ext: omni.kit.browser.core-2.3.13] startup +[6.089s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.092s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.096s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.099s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.109s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.112s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.124s] [ext: omni.graph.action-1.130.0] startup +[6.128s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.132s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.142s] [ext: isaacsim.gui.components-1.2.1] startup +[6.152s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.161s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.243s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.247s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.257s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[6.316s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:29:27Z [6,301ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.326s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.328s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.331s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.338s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.342s] [ext: omni.graph.image.core-0.6.1] startup +[6.344s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.345s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.347s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.351s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.353s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.356s] [ext: omni.graph.nodes-1.170.10] startup +[6.364s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.370s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.375s] [ext: omni.syntheticdata-0.6.13] startup +[6.404s] [ext: omni.videoencoding-0.1.2] startup +[6.409s] [ext: omni.warp-1.8.2] startup +[6.417s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.439s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.443s] [ext: isaacsim.core.prims-0.6.1] startup +[6.484s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.503s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:29:27Z [6,675ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:29:27Z [6,675ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:29:27Z [6,677ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.708s] [ext: isaacsim.core.api-4.8.0] startup +[6.769s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.830s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.838s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.849s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.854s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.866s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.877s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.888s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.897s] [ext: omni.sensors.net-1.0.0] startup +[6.901s] [ext: isaacsim.app.about-2.0.11] startup +[6.904s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.906s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.910s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.918s] [ext: omni.kit.property.audio-1.0.16] startup +[6.926s] [ext: omni.kit.property.camera-1.0.10] startup +[6.934s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.972s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.980s] [ext: omni.kit.property.light-1.0.12] startup +[7.005s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.014s] [ext: omni.kit.selection-0.1.6] startup +[7.033s] [ext: omni.kit.property.material-1.11.9] startup +[7.067s] [ext: omni.kit.property.transform-1.5.13] startup +[7.083s] [ext: omni.kit.property.render-1.2.1] startup +[7.093s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.100s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.140s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.173s] [ext: isaacsim.gui.property-1.1.3] startup +[7.195s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.202s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.236s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.280s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.519s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.567s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.706s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.830s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.841s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.875s] [ext: omni.kit.window.console-1.1.4] startup +[7.900s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.923s] [ext: omni.ocio-0.1.1] startup +[7.930s] [ext: omni.physx.demos-107.3.26] startup +[8.015s] [ext: omni.kit.property.physx-107.3.26] startup +[8.069s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.076s] [ext: omni.asset_validator.core-1.1.6] startup +[8.178s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.187s] [ext: omni.physx.vehicle-107.3.26] startup +[8.212s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.229s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.235s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.242s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.257s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.265s] [ext: omni.physx.camera-107.3.26] startup +[8.279s] [ext: omni.anim.curve.core-1.3.1] startup +[8.303s] [ext: omni.physx.cct-107.3.26] startup +[8.321s] [ext: omni.physx.graph-107.3.26] startup +[8.354s] [ext: omni.physx.supportui-107.3.26] startup +[8.395s] [ext: omni.physx.telemetry-107.3.26] startup +[8.407s] [ext: isaaclab-0.54.3] startup +[8.699s] [ext: isaaclab_contrib-0.0.2] startup +[8.701s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.704s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.709s] [ext: semantics.schema.property-2.0.1] startup +[8.713s] [ext: omni.physx.bundle-107.3.26] startup +[8.716s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.721s] [ext: isaaclab_assets-0.2.4] startup +[9.029s] [ext: isaaclab_tasks-0.11.14] startup +[9.182s] [ext: omni.kit.menu.common-2.0.1] startup +[9.183s] [ext: isaaclab_rl-0.5.0] startup +[9.185s] [ext: isaaclab_mimic-1.0.16] startup +[9.186s] [ext: isaaclab.python-2.3.2] startup +[9.190s] Simulation App Starting +2026-07-24T14:29:30Z [9,238ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:29:30Z [9,242ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:29:30Z [9,242ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:29:30Z [9,242ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:29:30Z [9,267ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T14:29:30Z [9,306ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-07-24T14:29:30Z [9,306ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T14:29:30Z [9,306ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +[9.340s] app ready +[12.833s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-29-50.log +====================================================================================================== + +22:29:50 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 8 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:29:50Z [29,345ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:29:50Z [29,471ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:50Z [29,484ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:29:50Z [29,494ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.614141 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:29:50Z [29,506ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:50Z [29,512ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:51Z [30,064ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:51Z [30,065ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:51Z [30,067ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:51Z [30,067ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:51Z [30,067ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +2026-07-24T14:29:51Z [30,068ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e407c85c10:World0.usd@ <0x55e414508170>) + +[INFO]: Time taken for simulation start : 0.810958 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:30:01Z [40,667ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:30:07Z [46,769ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:07Z [46,769ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:07Z [46,769ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:07Z [46,769ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:30:14Z [52,798ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=8 variant=34 rng_seed=8034 piece_order=[3, 4, 2, 1, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=6 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 2, 5] +[curobo-ttt] semantic move=4/5 piece=player_piece1 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=0 +env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 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env0 step: 773 / 1100 env0 step: 774 / 1100 env0 step: 775 / 1100 env0 step: 776 / 1100 env0 step: 777 / 1100 env0 step: 778 / 1100 env0 step: 779 / 1100 env0 step: 780 / 1100 env0 step: 781 / 1100 env0 step: 782 / 1100 env0 step: 783 / 1100 env0 step: 784 / 1100 env0 step: 785 / 1100 env0 step: 786 / 1100 env0 step: 787 / 1100 env0 step: 788 / 1100 env0 step: 789 / 1100 env0 step: 790 / 1100 env0 step: 791 / 1100 env0 step: 792 / 1100 env0 step: 793 / 1100 env0 step: 794 / 1100 env0 step: 795 / 1100 env0 step: 796 / 1100 env0 step: 797 / 1100 env0 step: 798 / 1100 env0 step: 799 / 1100 env0 step: 800 / 1100 env0 step: 801 / 1100 env0 step: 802 / 1100 env0 step: 803 / 1100 env0 step: 804 / 1100 env0 step: 805 / 1100 env0 step: 806 / 1100 env0 step: 807 / 1100 env0 step: 808 / 1100 env0 step: 809 / 1100 env0 step: 810 / 1100 env0 step: 811 / 1100 env0 step: 812 / 1100 env0 step: 813 / 1100 env0 step: 814 / 1100 env0 step: 815 / 1100 env0 step: 816 / 1100 env0 step: 817 / 1100 env0 step: 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[2] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_2 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=2 +env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=983 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-29-19_semantic-w03-s0003-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0003-a000,split=all,layout=8,variant=34,behavior=24/2026-07-24_22-29-19_semantic-w03-s0003-a000/episode_0000000_cam_head_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0003-a000,split=all,layout=8,variant=34,behavior=24/2026-07-24_22-29-19_semantic-w03-s0003-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0003-a000,split=all,layout=8,variant=34,behavior=24/2026-07-24_22-29-19_semantic-w03-s0003-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0003-a000,split=all,layout=8,variant=34,behavior=24/_resume_2026-07-24_22-29-19_semantic-w03-s0003-a000.json (eval completed) +2026-07-24T14:33:42Z [260,776ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [260,776ms] [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) +[261.257s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-04_semantic-w02-s0004-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-04_semantic-w02-s0004-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..d88fda2641e4bb852dca151a0104de4a9e611990 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-04_semantic-w02-s0004-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-33-04_semantic-w02-s0004-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223306.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.171s] [ext: omni.metrics.core-0.0.3] startup +[0.171s] [ext: omni.client.lib-1.1.0] startup +[0.183s] [ext: omni.blobkey-1.1.2] startup +[0.183s] [ext: omni.stats-1.0.1] startup +[0.184s] [ext: omni.datastore-0.0.0] startup +[0.189s] [ext: omni.client-1.3.0] startup +[0.193s] [ext: omni.ujitso.default-1.0.0] startup +[0.195s] [ext: omni.hsscclient-1.1.2] startup +[0.227s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.228s] [ext: omni.assets.plugins-0.0.0] startup +[0.229s] [ext: omni.gpu_foundation-0.0.0] startup +[0.236s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:33:06Z [214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:06Z [214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.236s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:33:06Z [284ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:33:06Z [291ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:33:06Z [291ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:33:06Z [291ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:33:06Z [324ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:33:07Z [969ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [969ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [970ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [970ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [973ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [973ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [974ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [974ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:07Z [975ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 522183 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.974s] [ext: omni.materialx.libs-1.0.7] startup +[1.982s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.983s] [ext: omni.kit.test-2.0.1] startup +[2.023s] [ext: omni.kit.pipapi-0.0.0] startup +[2.023s] [ext: omni.usd.config-1.0.6] startup +[2.026s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.027s] [ext: omni.usd.libs-1.0.1] startup +[2.106s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.106s] [ext: omni.mdl-56.0.3] startup +[2.164s] [ext: omni.iray.libs-0.0.0] startup +[2.170s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.172s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.262s] [ext: omni.kit.telemetry-0.5.2] startup +[2.297s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:33:08Z [2,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:08Z [2,277ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.300s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:33:08Z [2,295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:08Z [2,295ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:08Z [2,303ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:08Z [2,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.326s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.328s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:33:08Z [2,309ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:08Z [2,309ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:08Z [2,310ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:08Z [2,310ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:08Z [2,311ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:08Z [2,311ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.410s] [ext: omni.ui-2.27.1] startup +[2.419s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.420s] [ext: carb.audio-0.1.0] startup +[2.449s] [ext: omni.uiaudio-1.0.0] startup +[2.451s] [ext: omni.kit.uiapp-0.0.0] startup +[2.451s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.453s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.458s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.460s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.463s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.465s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.482s] [ext: omni.usd_resolver-1.0.0] startup +[2.485s] [ext: omni.usd.core-1.5.3] startup +[2.487s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.505s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.512s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.540s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.541s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.542s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.545s] [ext: omni.graph.exec-0.9.6] startup +[2.546s] [ext: omni.kit.actions.core-1.0.0] startup +[2.548s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.548s] [ext: omni.kit.exec.core-0.13.4] startup +[2.549s] [ext: omni.kit.commands-1.4.10] startup +[2.552s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.555s] [ext: omni.activity.core-1.0.3] startup +[2.556s] [ext: omni.resourcemonitor-107.0.1] startup +[2.558s] [ext: omni.timeline-1.0.14] startup +[2.560s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.561s] [ext: usdrt.scenegraph-7.6.1] startup +[2.592s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.594s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.599s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.603s] [ext: omni.usd-1.13.10] startup +[2.624s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.635s] [ext: omni.index.libs-380600.8087.0] startup +[2.635s] [ext: omni.volume-0.5.2] startup +[2.637s] [ext: omni.ujitso.client-0.0.0] startup +[2.638s] [ext: omni.index-1.0.1] startup +[2.638s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.639s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:33:09Z [2,634ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.669s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.671s] [ext: omni.kit.clipboard-1.0.5] startup +[2.671s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.673s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.709s] [ext: omni.kit.menu.core-1.1.2] startup +[2.709s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.712s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.713s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.713s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.714s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.715s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.719s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.719s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.726s] [ext: omni.ui.scene-1.11.5] startup +[2.729s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.730s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.741s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.747s] [ext: omni.kit.context_menu-1.8.6] startup +[2.748s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.752s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.755s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.756s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.757s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.757s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.760s] [ext: omni.kit.material.library-2.0.7] startup +[2.764s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.766s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.768s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.780s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.784s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.788s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.788s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.791s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.795s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.795s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.797s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.799s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.799s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.800s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.805s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.807s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.808s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.809s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.810s] [ext: omni.fabric.commands-1.1.6] startup +[2.812s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.813s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.814s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.815s] [ext: omni.debugdraw-0.1.4] startup +[2.817s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.826s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.827s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.827s] [ext: omni.kvdb-107.3.26] startup +[2.828s] [ext: omni.convexdecomposition-107.3.26] startup +[2.830s] [ext: omni.physx.foundation-107.3.26] startup +[2.832s] [ext: omni.localcache-107.3.26] startup +[2.833s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.833s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.834s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.834s] [ext: omni.usdphysics-107.3.26] startup +[2.836s] [ext: omni.kit.window.file-2.0.5] startup +[2.838s] [ext: omni.physx.cooking-107.3.26] startup +[2.841s] [ext: omni.physics-107.3.26] startup +[2.843s] [ext: omni.kit.window.property-1.12.1] startup +[2.845s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.854s] [ext: omni.physx-107.3.26] startup +[2.862s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.864s] [ext: omni.kit.property.usd-4.5.12] startup +[2.872s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.873s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:33:09Z [2,852ms] [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. +[2.875s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.875s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.886s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.889s] [ext: omni.inspect-1.0.2] startup +[2.890s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.899s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.900s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.906s] [ext: omni.graph.core-2.184.5] startup +[2.908s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.909s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.931s] [ext: omni.physx.commands-107.3.26] startup +[2.935s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.936s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:33:09Z [2,918ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.941s] [ext: omni.physx.ui-107.3.26] startup +[2.966s] [ext: isaacsim.core.version-2.0.6] startup +[2.967s] [ext: omni.physics.tensors-107.3.26] startup +[2.970s] [ext: omni.warp.core-1.8.2] startup +[3.125s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.126s] [ext: isaacsim.storage.native-1.5.1] startup +[3.127s] [ext: omni.physx.tensors-107.3.26] startup +[3.131s] [ext: isaacsim.core.utils-3.5.1] startup +[3.134s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.441s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.442s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.443s] [ext: omni.kit.window.stage-2.6.1] startup +[4.447s] [ext: omni.kit.menu.create-2.0.1] startup +[4.448s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.453s] [ext: omni.kit.scripting-107.3.2] startup +[4.457s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.459s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.460s] [ext: omni.graph.tools-1.79.2] startup +[4.478s] [ext: omni.ui_query-1.1.8] startup +[4.478s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.479s] [ext: omni.graph-1.141.2] startup +[4.516s] [ext: omni.graph.action_core-1.1.7] startup +[4.517s] [ext: omni.kit.ui_test-1.3.7] startup +[4.520s] [ext: omni.kit.browser.core-2.3.13] startup +[4.523s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.526s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.530s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.533s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.545s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.549s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.560s] [ext: omni.graph.action-1.130.0] startup +[4.565s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.568s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.578s] [ext: isaacsim.gui.components-1.2.1] startup +[4.586s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.595s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.717s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.722s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.730s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.814s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:33:11Z [4,803ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.829s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.832s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.836s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.844s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.848s] [ext: omni.graph.image.core-0.6.1] startup +[4.852s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.853s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.856s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.860s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.863s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.865s] [ext: omni.graph.nodes-1.170.10] startup +[4.876s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.882s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.888s] [ext: omni.syntheticdata-0.6.13] startup +[4.925s] [ext: omni.videoencoding-0.1.2] startup +[4.929s] [ext: omni.warp-1.8.2] startup +[4.938s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.971s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.981s] [ext: isaacsim.core.prims-0.6.1] startup +[5.027s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.044s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:33:11Z [5,194ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:33:11Z [5,194ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:33:11Z [5,196ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.224s] [ext: isaacsim.core.api-4.8.0] startup +[5.289s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.370s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.390s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.411s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.430s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.462s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.476s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.508s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.527s] [ext: omni.sensors.net-1.0.0] startup +[5.556s] [ext: isaacsim.app.about-2.0.11] startup +[5.579s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.583s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.613s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.647s] [ext: omni.kit.property.audio-1.0.16] startup +[5.676s] [ext: omni.kit.property.camera-1.0.10] startup +[5.712s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.746s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.782s] [ext: omni.kit.property.light-1.0.12] startup +[5.866s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.871s] [ext: omni.kit.selection-0.1.6] startup +[5.879s] [ext: omni.kit.property.material-1.11.9] startup +[5.933s] [ext: omni.kit.property.transform-1.5.13] startup +[5.943s] [ext: omni.kit.property.render-1.2.1] startup +[5.949s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.954s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.983s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.005s] [ext: isaacsim.gui.property-1.1.3] startup +[6.012s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.024s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.036s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.053s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.095s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.118s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.162s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.191s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.203s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.230s] [ext: omni.kit.window.console-1.1.4] startup +[6.295s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.370s] [ext: omni.ocio-0.1.1] startup +[6.377s] [ext: omni.physx.demos-107.3.26] startup +[6.987s] [ext: omni.kit.property.physx-107.3.26] startup +[7.079s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.104s] [ext: omni.asset_validator.core-1.1.6] startup +[7.249s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.259s] [ext: omni.physx.vehicle-107.3.26] startup +[7.287s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.306s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.314s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.323s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.338s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.348s] [ext: omni.physx.camera-107.3.26] startup +[7.370s] [ext: omni.anim.curve.core-1.3.1] startup +[7.398s] [ext: omni.physx.cct-107.3.26] startup +[7.425s] [ext: omni.physx.graph-107.3.26] startup +[7.459s] [ext: omni.physx.supportui-107.3.26] startup +[7.509s] [ext: omni.physx.telemetry-107.3.26] startup +[7.522s] [ext: isaaclab-0.54.3] startup +[7.859s] [ext: isaaclab_contrib-0.0.2] startup +[7.861s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.864s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.869s] [ext: semantics.schema.property-2.0.1] startup +[7.873s] [ext: omni.physx.bundle-107.3.26] startup +[7.876s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.881s] [ext: isaaclab_assets-0.2.4] startup +[8.226s] [ext: isaaclab_tasks-0.11.14] startup +[8.383s] [ext: omni.kit.menu.common-2.0.1] startup +[8.386s] [ext: isaaclab_rl-0.5.0] startup +[8.387s] [ext: isaaclab_mimic-1.0.16] startup +[8.389s] [ext: isaaclab.python-2.3.2] startup +[8.394s] Simulation App Starting +2026-07-24T14:33:15Z [8,451ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:33:15Z [8,451ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:33:15Z [8,451ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:33:15Z [8,479ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.530s] app ready +[12.491s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-33-34.log +====================================================================================================== + +22:33:34 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 10 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:33:35Z [28,456ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:33:35Z [28,581ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:33:35Z [28,595ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:33:35Z [28,604ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.554135 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:33:35Z [28,617ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [28,623ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [29,316ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [29,316ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [29,319ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [29,321ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [29,322ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +2026-07-24T14:33:35Z [29,322ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560be0198550:World0.usd@ <0x560bec9773f0>) + +[INFO]: Time taken for simulation start : 0.969540 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:33:44Z [38,209ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:33:45Z [38,770ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:33:45Z [38,770ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:33:45Z [38,771ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:33:45Z [38,771ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:33:56Z [49,549ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=10 variant=40 rng_seed=10040 piece_order=[4, 1, 2, 3, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=1 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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empty=[4, 7, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece3 grasp=right_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=4 +env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 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approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=7 +env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 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step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1002 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-33-04_semantic-w02-s0004-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0004-a000,split=all,layout=10,variant=40,behavior=30/2026-07-24_22-33-04_semantic-w02-s0004-a000/episode_0000000_cam_head_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0004-a000,split=all,layout=10,variant=40,behavior=30/2026-07-24_22-33-04_semantic-w02-s0004-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0004-a000,split=all,layout=10,variant=40,behavior=30/2026-07-24_22-33-04_semantic-w02-s0004-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0004-a000,split=all,layout=10,variant=40,behavior=30/_resume_2026-07-24_22-33-04_semantic-w02-s0004-a000.json (eval completed) +2026-07-24T14:37:25Z [258,789ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:37:25Z [258,789ms] [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) +[259.143s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-36_semantic-w05-s0004-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-36_semantic-w05-s0004-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..ba53006c86fc4ff32eefa203bfe7da798dcfb67b --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-36_semantic-w05-s0004-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-33-36_semantic-w05-s0004-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223338.log +[0.053s] [ext: omni.kit.async_engine-0.0.3] startup +[0.167s] [ext: omni.metrics.core-0.0.3] startup +[0.167s] [ext: omni.client.lib-1.1.0] startup +[0.179s] [ext: omni.blobkey-1.1.2] startup +[0.180s] [ext: omni.stats-1.0.1] startup +[0.180s] [ext: omni.datastore-0.0.0] startup +[0.185s] [ext: omni.client-1.3.0] startup +[0.190s] [ext: omni.ujitso.default-1.0.0] startup +[0.191s] [ext: omni.hsscclient-1.1.2] startup +[0.213s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.214s] [ext: omni.assets.plugins-0.0.0] startup +[0.215s] [ext: omni.gpu_foundation-0.0.0] startup +[0.221s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:33:38Z [202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:38Z [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) +[0.222s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:33:38Z [272ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:33:38Z [277ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:33:38Z [277ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:33:38Z [277ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:33:38Z [329ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:33:40Z [1,605ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,605ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,611ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,611ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,624ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,624ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,628ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,629ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,629ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:40Z [1,629ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:40Z [1,629ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 536256 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.478s] [ext: omni.materialx.libs-1.0.7] startup +[2.486s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.488s] [ext: omni.kit.test-2.0.1] startup +[2.527s] [ext: omni.kit.pipapi-0.0.0] startup +[2.528s] [ext: omni.usd.config-1.0.6] startup +[2.530s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.531s] [ext: omni.usd.libs-1.0.1] startup +[2.605s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.605s] [ext: omni.mdl-56.0.3] startup +[2.662s] [ext: omni.iray.libs-0.0.0] startup +[2.668s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.670s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.758s] [ext: omni.kit.telemetry-0.5.2] startup +[2.793s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:33:41Z [2,774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:41Z [2,774ms] [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) +[2.797s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:33:41Z [2,819ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:41Z [2,819ms] [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) +2026-07-24T14:33:41Z [2,851ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:41Z [2,851ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.872s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.875s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:33:41Z [2,858ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:41Z [2,858ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:41Z [2,859ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:41Z [2,859ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:41Z [2,860ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:41Z [2,860ms] [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) +[2.993s] [ext: omni.ui-2.27.1] startup +[3.002s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.003s] [ext: carb.audio-0.1.0] startup +[3.028s] [ext: omni.uiaudio-1.0.0] startup +[3.028s] [ext: omni.kit.uiapp-0.0.0] startup +[3.028s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.030s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.036s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.037s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.040s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.042s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.058s] [ext: omni.usd_resolver-1.0.0] startup +[3.061s] [ext: omni.usd.core-1.5.3] startup +[3.063s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.081s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.088s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.115s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.116s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.116s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.120s] [ext: omni.graph.exec-0.9.6] startup +[3.120s] [ext: omni.kit.actions.core-1.0.0] startup +[3.122s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.122s] [ext: omni.kit.exec.core-0.13.4] startup +[3.124s] [ext: omni.kit.commands-1.4.10] startup +[3.126s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.129s] [ext: omni.activity.core-1.0.3] startup +[3.130s] [ext: omni.resourcemonitor-107.0.1] startup +[3.132s] [ext: omni.timeline-1.0.14] startup +[3.133s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.135s] [ext: usdrt.scenegraph-7.6.1] startup +[3.165s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.166s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.171s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.175s] [ext: omni.usd-1.13.10] startup +[3.195s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.206s] [ext: omni.index.libs-380600.8087.0] startup +[3.206s] [ext: omni.volume-0.5.2] startup +[3.208s] [ext: omni.ujitso.client-0.0.0] startup +[3.208s] [ext: omni.index-1.0.1] startup +[3.209s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.210s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:33:41Z [3,206ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.239s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.240s] [ext: omni.kit.clipboard-1.0.5] startup +[3.241s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.243s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.247s] [ext: omni.kit.menu.core-1.1.2] startup +[3.247s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.250s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.251s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.251s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.252s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.253s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.257s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.257s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.263s] [ext: omni.ui.scene-1.11.5] startup +[3.267s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.267s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.279s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.285s] [ext: omni.kit.context_menu-1.8.6] startup +[3.286s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.290s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.292s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.294s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.295s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.295s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.298s] [ext: omni.kit.material.library-2.0.7] startup +[3.302s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.304s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.305s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.317s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.321s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.325s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.326s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.329s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.332s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.333s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.334s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.336s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.336s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.337s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.342s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.345s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.345s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.347s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.348s] [ext: omni.fabric.commands-1.1.6] startup +[3.350s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.350s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.351s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.352s] [ext: omni.debugdraw-0.1.4] startup +[3.355s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.364s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.364s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.364s] [ext: omni.kvdb-107.3.26] startup +[3.366s] [ext: omni.convexdecomposition-107.3.26] startup +[3.368s] [ext: omni.physx.foundation-107.3.26] startup +[3.369s] [ext: omni.localcache-107.3.26] startup +[3.370s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.371s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.371s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.372s] [ext: omni.usdphysics-107.3.26] startup +[3.373s] [ext: omni.kit.window.file-2.0.5] startup +[3.376s] [ext: omni.physx.cooking-107.3.26] startup +[3.378s] [ext: omni.physics-107.3.26] startup +[3.381s] [ext: omni.kit.window.property-1.12.1] startup +[3.383s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.392s] [ext: omni.physx-107.3.26] startup +[3.400s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.402s] [ext: omni.kit.property.usd-4.5.12] startup +[3.410s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.411s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:33:42Z [3,392ms] [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. +[3.412s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.413s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.426s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.429s] [ext: omni.inspect-1.0.2] startup +[3.430s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.440s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.441s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.446s] [ext: omni.graph.core-2.184.5] startup +[3.448s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.449s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.471s] [ext: omni.physx.commands-107.3.26] startup +[3.475s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.476s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:33:42Z [3,460ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.480s] [ext: omni.physx.ui-107.3.26] startup +[3.506s] [ext: isaacsim.core.version-2.0.6] startup +[3.507s] [ext: omni.physics.tensors-107.3.26] startup +[3.511s] [ext: omni.warp.core-1.8.2] startup +[3.667s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.668s] [ext: isaacsim.storage.native-1.5.1] startup +[3.669s] [ext: omni.physx.tensors-107.3.26] startup +[3.692s] [ext: isaacsim.core.utils-3.5.1] startup +[3.695s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.949s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.950s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.951s] [ext: omni.kit.window.stage-2.6.1] startup +[4.954s] [ext: omni.kit.menu.create-2.0.1] startup +[4.956s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.961s] [ext: omni.kit.scripting-107.3.2] startup +[4.964s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.967s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.967s] [ext: omni.graph.tools-1.79.2] startup +[4.985s] [ext: omni.ui_query-1.1.8] startup +[4.986s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.986s] [ext: omni.graph-1.141.2] startup +[5.020s] [ext: omni.graph.action_core-1.1.7] startup +[5.022s] [ext: omni.kit.ui_test-1.3.7] startup +[5.025s] [ext: omni.kit.browser.core-2.3.13] startup +[5.028s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.031s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.034s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.037s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.049s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.052s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.063s] [ext: omni.graph.action-1.130.0] startup +[5.065s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.073s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.081s] [ext: isaacsim.gui.components-1.2.1] startup +[5.087s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.096s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.415s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.420s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.426s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.532s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:33:44Z [5,521ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.544s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.546s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.550s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.559s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.565s] [ext: omni.graph.image.core-0.6.1] startup +[5.567s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.568s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.571s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.576s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.579s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.581s] [ext: omni.graph.nodes-1.170.10] startup +[5.593s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.599s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.605s] [ext: omni.syntheticdata-0.6.13] startup +[5.643s] [ext: omni.videoencoding-0.1.2] startup +[5.649s] [ext: omni.warp-1.8.2] startup +[5.662s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.683s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.689s] [ext: isaacsim.core.prims-0.6.1] startup +[5.760s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.772s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:33:44Z [5,964ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:33:44Z [5,964ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:33:44Z [5,965ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.990s] [ext: isaacsim.core.api-4.8.0] startup +[6.012s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.083s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.096s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.105s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.111s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.140s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.154s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.171s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.177s] [ext: omni.sensors.net-1.0.0] startup +[6.183s] [ext: isaacsim.app.about-2.0.11] startup +[6.187s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.188s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.192s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.208s] [ext: omni.kit.property.audio-1.0.16] startup +[6.230s] [ext: omni.kit.property.camera-1.0.10] startup +[6.240s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.283s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.339s] [ext: omni.kit.property.light-1.0.12] startup +[6.392s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.410s] [ext: omni.kit.selection-0.1.6] startup +[6.453s] [ext: omni.kit.property.material-1.11.9] startup +[6.841s] [ext: omni.kit.property.transform-1.5.13] startup +[6.850s] [ext: omni.kit.property.render-1.2.1] startup +[6.853s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.858s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.875s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.885s] [ext: isaacsim.gui.property-1.1.3] startup +[6.891s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.896s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.908s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.943s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.987s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.015s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.032s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.043s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.049s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.068s] [ext: omni.kit.window.console-1.1.4] startup +[7.079s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.103s] [ext: omni.ocio-0.1.1] startup +[7.110s] [ext: omni.physx.demos-107.3.26] startup +[7.147s] [ext: omni.kit.property.physx-107.3.26] startup +[7.189s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.195s] [ext: omni.asset_validator.core-1.1.6] startup +[7.284s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.292s] [ext: omni.physx.vehicle-107.3.26] startup +[7.315s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.334s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.340s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.348s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.362s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.370s] [ext: omni.physx.camera-107.3.26] startup +[7.389s] [ext: omni.anim.curve.core-1.3.1] startup +[7.407s] [ext: omni.physx.cct-107.3.26] startup +[7.425s] [ext: omni.physx.graph-107.3.26] startup +[7.446s] [ext: omni.physx.supportui-107.3.26] startup +[7.488s] [ext: omni.physx.telemetry-107.3.26] startup +[7.495s] [ext: isaaclab-0.54.3] startup +[7.812s] [ext: isaaclab_contrib-0.0.2] startup +[7.814s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.816s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.821s] [ext: semantics.schema.property-2.0.1] startup +[7.825s] [ext: omni.physx.bundle-107.3.26] startup +[7.826s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.831s] [ext: isaaclab_assets-0.2.4] startup +[8.105s] [ext: isaaclab_tasks-0.11.14] startup +[8.262s] [ext: omni.kit.menu.common-2.0.1] startup +[8.264s] [ext: isaaclab_rl-0.5.0] startup +[8.267s] [ext: isaaclab_mimic-1.0.16] startup +[8.270s] [ext: isaaclab.python-2.3.2] startup +[8.272s] Simulation App Starting +2026-07-24T14:33:46Z [8,322ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:33:46Z [8,326ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:33:46Z [8,326ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:33:46Z [8,326ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:33:47Z [8,354ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.406s] app ready +[12.757s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-34-07.log +====================================================================================================== + +22:34:07 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 11 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:34:07Z [28,909ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:34:07Z [29,040ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:07Z [29,053ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:07Z [29,062ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.604566 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:34:07Z [29,075ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:07Z [29,080ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:08Z [29,468ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:08Z [29,468ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:08Z [29,471ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:08Z [29,472ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:08Z [29,472ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +2026-07-24T14:34:08Z [29,473ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e996eb7a0:World0.usd@ <0x564ea5f33a50>) + +[INFO]: Time taken for simulation start : 0.655438 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:34:19Z [40,721ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:34:19Z [41,176ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:19Z [41,176ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:19Z [41,176ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:19Z [41,176ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:31Z [52,508ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=11 variant=43 rng_seed=11043 piece_order=[3, 4, 0, 2, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=7 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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piece=player_piece2 arm=right cell=0 +env0 step: 729 / 1100 env0 step: 730 / 1100 env0 step: 731 / 1100 env0 step: 732 / 1100 env0 step: 733 / 1100 env0 step: 734 / 1100 env0 step: 735 / 1100 env0 step: 736 / 1100 env0 step: 737 / 1100 env0 step: 738 / 1100 env0 step: 739 / 1100 env0 step: 740 / 1100 env0 step: 741 / 1100 env0 step: 742 / 1100 env0 step: 743 / 1100 env0 step: 744 / 1100 env0 step: 745 / 1100 env0 step: 746 / 1100 env0 step: 747 / 1100 env0 step: 748 / 1100 env0 step: 749 / 1100 env0 step: 750 / 1100 env0 step: 751 / 1100 env0 step: 752 / 1100 env0 step: 753 / 1100 env0 step: 754 / 1100 env0 step: 755 / 1100 env0 step: 756 / 1100 env0 step: 757 / 1100 env0 step: 758 / 1100 env0 step: 759 / 1100 env0 step: 760 / 1100 env0 step: 761 / 1100 env0 step: 762 / 1100 env0 step: 763 / 1100 env0 step: 764 / 1100 env0 step: 765 / 1100 env0 step: 766 / 1100 env0 step: 767 / 1100 env0 step: 768 / 1100 env0 step: 769 / 1100 env0 step: 770 / 1100 env0 step: 771 / 1100 env0 step: 772 / 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step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[4] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=4 +env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1039 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-33-36_semantic-w05-s0004-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0004-a000,split=all,layout=11,variant=43,behavior=33/2026-07-24_22-33-36_semantic-w05-s0004-a000/episode_0000000_cam_head_success.mp4`, containing 209 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0004-a000,split=all,layout=11,variant=43,behavior=33/2026-07-24_22-33-36_semantic-w05-s0004-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 209 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0004-a000,split=all,layout=11,variant=43,behavior=33/2026-07-24_22-33-36_semantic-w05-s0004-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 209 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w05-s0004-a000,split=all,layout=11,variant=43,behavior=33/_resume_2026-07-24_22-33-36_semantic-w05-s0004-a000.json (eval completed) +2026-07-24T14:38:07Z [268,724ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:07Z [268,724ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[269.055s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-37_semantic-w06-s0004-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-37_semantic-w06-s0004-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..e07aa02a42fca17d4e6f90c7e4fe5d86cf04feed --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-37_semantic-w06-s0004-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-33-37_semantic-w06-s0004-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223340.log +[0.055s] [ext: omni.kit.async_engine-0.0.3] startup +[0.171s] [ext: omni.metrics.core-0.0.3] startup +[0.171s] [ext: omni.client.lib-1.1.0] startup +[0.183s] [ext: omni.blobkey-1.1.2] startup +[0.183s] [ext: omni.stats-1.0.1] startup +[0.184s] [ext: omni.datastore-0.0.0] startup +[0.189s] [ext: omni.client-1.3.0] startup +[0.194s] [ext: omni.ujitso.default-1.0.0] startup +[0.195s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.219s] [ext: omni.assets.plugins-0.0.0] startup +[0.220s] [ext: omni.gpu_foundation-0.0.0] startup +[0.226s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:33:40Z [206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:40Z [206ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.227s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:33:40Z [276ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:33:40Z [277ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:33:40Z [277ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:33:40Z [277ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:33:40Z [340ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:33:41Z [1,312ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,312ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,313ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,313ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,314ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,314ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,315ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,315ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,316ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,316ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,319ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,319ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:41Z [1,320ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 536002 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.075s] [ext: omni.materialx.libs-1.0.7] startup +[2.083s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.083s] [ext: omni.kit.test-2.0.1] startup +[2.124s] [ext: omni.kit.pipapi-0.0.0] startup +[2.124s] [ext: omni.usd.config-1.0.6] startup +[2.127s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.128s] [ext: omni.usd.libs-1.0.1] startup +[2.201s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.202s] [ext: omni.mdl-56.0.3] startup +[2.258s] [ext: omni.iray.libs-0.0.0] startup +[2.263s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.266s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.349s] [ext: omni.kit.telemetry-0.5.2] startup +[2.378s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:33:42Z [2,359ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [2,359ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.381s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:33:42Z [2,374ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [2,374ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:42Z [2,381ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [2,381ms] [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) +[2.403s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.405s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:33:42Z [2,387ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [2,387ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:42Z [2,388ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [2,388ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:42Z [2,389ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:42Z [2,389ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.520s] [ext: omni.ui-2.27.1] startup +[2.533s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.534s] [ext: carb.audio-0.1.0] startup +[2.560s] [ext: omni.uiaudio-1.0.0] startup +[2.561s] [ext: omni.kit.uiapp-0.0.0] startup +[2.561s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.564s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.572s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.574s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.578s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.581s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.605s] [ext: omni.usd_resolver-1.0.0] startup +[2.609s] [ext: omni.usd.core-1.5.3] startup +[2.612s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.637s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.644s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.671s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.672s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.673s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.676s] [ext: omni.graph.exec-0.9.6] startup +[2.677s] [ext: omni.kit.actions.core-1.0.0] startup +[2.678s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.679s] [ext: omni.kit.exec.core-0.13.4] startup +[2.680s] [ext: omni.kit.commands-1.4.10] startup +[2.683s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.686s] [ext: omni.activity.core-1.0.3] startup +[2.687s] [ext: omni.resourcemonitor-107.0.1] startup +[2.689s] [ext: omni.timeline-1.0.14] startup +[2.690s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.692s] [ext: usdrt.scenegraph-7.6.1] startup +[2.722s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.723s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.728s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.732s] [ext: omni.usd-1.13.10] startup +[2.752s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.762s] [ext: omni.index.libs-380600.8087.0] startup +[2.762s] [ext: omni.volume-0.5.2] startup +[2.764s] [ext: omni.ujitso.client-0.0.0] startup +[2.765s] [ext: omni.index-1.0.1] startup +[2.765s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.766s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:33:43Z [2,761ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.794s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.795s] [ext: omni.kit.clipboard-1.0.5] startup +[2.796s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.798s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.802s] [ext: omni.kit.menu.core-1.1.2] startup +[2.802s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.805s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.806s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.807s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.807s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.808s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.812s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.812s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.819s] [ext: omni.ui.scene-1.11.5] startup +[2.822s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.823s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.835s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.841s] [ext: omni.kit.context_menu-1.8.6] startup +[2.842s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.846s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.849s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.851s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.852s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.852s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.855s] [ext: omni.kit.material.library-2.0.7] startup +[2.859s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.861s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.862s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.876s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.880s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.884s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.885s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.888s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.891s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.892s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.893s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.895s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.895s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.896s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.901s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.904s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.904s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.906s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.907s] [ext: omni.fabric.commands-1.1.6] startup +[2.909s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.910s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.910s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.911s] [ext: omni.debugdraw-0.1.4] startup +[2.914s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.923s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.924s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.924s] [ext: omni.kvdb-107.3.26] startup +[2.925s] [ext: omni.convexdecomposition-107.3.26] startup +[2.927s] [ext: omni.physx.foundation-107.3.26] startup +[2.928s] [ext: omni.localcache-107.3.26] startup +[2.930s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.930s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.930s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.931s] [ext: omni.usdphysics-107.3.26] startup +[2.933s] [ext: omni.kit.window.file-2.0.5] startup +[2.935s] [ext: omni.physx.cooking-107.3.26] startup +[2.937s] [ext: omni.physics-107.3.26] startup +[2.940s] [ext: omni.kit.window.property-1.12.1] startup +[2.942s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.951s] [ext: omni.physx-107.3.26] startup +[2.960s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.961s] [ext: omni.kit.property.usd-4.5.12] startup +[2.970s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.971s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:33:43Z [2,951ms] [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. +[2.972s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.973s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.987s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.991s] [ext: omni.inspect-1.0.2] startup +[2.992s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.001s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.002s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.007s] [ext: omni.graph.core-2.184.5] startup +[3.009s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.010s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.032s] [ext: omni.physx.commands-107.3.26] startup +[3.036s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.037s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:33:43Z [3,020ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.041s] [ext: omni.physx.ui-107.3.26] startup +[3.067s] [ext: isaacsim.core.version-2.0.6] startup +[3.068s] [ext: omni.physics.tensors-107.3.26] startup +[3.072s] [ext: omni.warp.core-1.8.2] startup +[3.230s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.231s] [ext: isaacsim.storage.native-1.5.1] startup +[3.233s] [ext: omni.physx.tensors-107.3.26] startup +[3.665s] [ext: isaacsim.core.utils-3.5.1] startup +[3.668s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.920s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.920s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.922s] [ext: omni.kit.window.stage-2.6.1] startup +[4.925s] [ext: omni.kit.menu.create-2.0.1] startup +[4.926s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.931s] [ext: omni.kit.scripting-107.3.2] startup +[4.934s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.937s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.937s] [ext: omni.graph.tools-1.79.2] startup +[4.955s] [ext: omni.ui_query-1.1.8] startup +[4.956s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.956s] [ext: omni.graph-1.141.2] startup +[4.990s] [ext: omni.graph.action_core-1.1.7] startup +[4.992s] [ext: omni.kit.ui_test-1.3.7] startup +[4.994s] [ext: omni.kit.browser.core-2.3.13] startup +[4.998s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.001s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.004s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.007s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.017s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.021s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.032s] [ext: omni.graph.action-1.130.0] startup +[5.035s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.038s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.044s] [ext: isaacsim.gui.components-1.2.1] startup +[5.051s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.057s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.159s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.163s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.173s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.248s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:33:45Z [5,230ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.253s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.253s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.256s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.261s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.264s] [ext: omni.graph.image.core-0.6.1] startup +[5.267s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.267s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.270s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.274s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.276s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.278s] [ext: omni.graph.nodes-1.170.10] startup +[5.286s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.291s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.297s] [ext: omni.syntheticdata-0.6.13] startup +[5.324s] [ext: omni.videoencoding-0.1.2] startup +[5.327s] [ext: omni.warp-1.8.2] startup +[5.337s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.358s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.360s] [ext: isaacsim.core.prims-0.6.1] startup +[5.411s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.415s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:33:45Z [5,611ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:33:45Z [5,611ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:33:45Z [5,612ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.636s] [ext: isaacsim.core.api-4.8.0] startup +[5.660s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.724s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.742s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.753s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.763s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.777s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.786s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.796s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.806s] [ext: omni.sensors.net-1.0.0] startup +[5.814s] [ext: isaacsim.app.about-2.0.11] startup +[5.819s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.820s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.833s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.848s] [ext: omni.kit.property.audio-1.0.16] startup +[5.856s] [ext: omni.kit.property.camera-1.0.10] startup +[5.864s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.875s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.885s] [ext: omni.kit.property.light-1.0.12] startup +[5.921s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.925s] [ext: omni.kit.selection-0.1.6] startup +[5.935s] [ext: omni.kit.property.material-1.11.9] startup +[6.199s] [ext: omni.kit.property.transform-1.5.13] startup +[6.368s] [ext: omni.kit.property.render-1.2.1] startup +[6.383s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.397s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.436s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.453s] [ext: isaacsim.gui.property-1.1.3] startup +[6.457s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.461s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.472s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.494s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.515s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.522s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.541s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.550s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.552s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.560s] [ext: omni.kit.window.console-1.1.4] startup +[6.565s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.572s] [ext: omni.ocio-0.1.1] startup +[6.575s] [ext: omni.physx.demos-107.3.26] startup +[6.598s] [ext: omni.kit.property.physx-107.3.26] startup +[6.630s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.638s] [ext: omni.asset_validator.core-1.1.6] startup +[6.712s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.720s] [ext: omni.physx.vehicle-107.3.26] startup +[6.741s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.758s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.763s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.770s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.784s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.790s] [ext: omni.physx.camera-107.3.26] startup +[6.808s] [ext: omni.anim.curve.core-1.3.1] startup +[6.826s] [ext: omni.physx.cct-107.3.26] startup +[6.843s] [ext: omni.physx.graph-107.3.26] startup +[6.865s] [ext: omni.physx.supportui-107.3.26] startup +[6.897s] [ext: omni.physx.telemetry-107.3.26] startup +[6.910s] [ext: isaaclab-0.54.3] startup +[7.205s] [ext: isaaclab_contrib-0.0.2] startup +[7.208s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.212s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.217s] [ext: semantics.schema.property-2.0.1] startup +[7.220s] [ext: omni.physx.bundle-107.3.26] startup +[7.223s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.228s] [ext: isaaclab_assets-0.2.4] startup +[7.519s] [ext: isaaclab_tasks-0.11.14] startup +[7.675s] [ext: omni.kit.menu.common-2.0.1] startup +[7.678s] [ext: isaaclab_rl-0.5.0] startup +[7.679s] [ext: isaaclab_mimic-1.0.16] startup +[7.681s] [ext: isaaclab.python-2.3.2] startup +[7.685s] Simulation App Starting +2026-07-24T14:33:48Z [7,771ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:33:48Z [7,776ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:33:48Z [7,776ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:33:48Z [7,776ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:33:48Z [7,803ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.861s] app ready +[12.147s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-34-07.log +====================================================================================================== + +22:34:07 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 11 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:34:07Z [27,662ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:34:08Z [27,795ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:08Z [27,808ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:08Z [27,817ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.607808 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:34:08Z [27,833ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [27,840ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [28,238ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [28,238ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [28,241ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [28,241ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [28,242ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +2026-07-24T14:34:08Z [28,242ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555cf6deff60:World0.usd@ <0x555d03643520>) + +[INFO]: Time taken for simulation start : 0.659218 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:34:18Z [38,644ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:34:19Z [39,161ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:19Z [39,161ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:19Z [39,161ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:19Z [39,161ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:31Z [50,969ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=11 variant=44 rng_seed=111044 piece_order=[1, 2, 0, 4, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=3 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=965 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-33-37_semantic-w06-s0004-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0004-a000,split=all,layout=11,variant=44,behavior=34/2026-07-24_22-33-37_semantic-w06-s0004-a000/episode_0000000_cam_head_success.mp4`, containing 194 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0004-a000,split=all,layout=11,variant=44,behavior=34/2026-07-24_22-33-37_semantic-w06-s0004-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 194 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0004-a000,split=all,layout=11,variant=44,behavior=34/2026-07-24_22-33-37_semantic-w06-s0004-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 194 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w06-s0004-a000,split=all,layout=11,variant=44,behavior=34/_resume_2026-07-24_22-33-37_semantic-w06-s0004-a000.json (eval completed) +2026-07-24T14:37:59Z [259,686ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:37:59Z [259,686ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[260.034s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-40_semantic-w00-s0004-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-40_semantic-w00-s0004-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..273666e92554106fa6ede0d5915852b173401f25 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-40_semantic-w00-s0004-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-33-40_semantic-w00-s0004-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223343.log +[0.048s] [ext: omni.kit.async_engine-0.0.3] startup +[0.162s] [ext: omni.metrics.core-0.0.3] startup +[0.162s] [ext: omni.client.lib-1.1.0] startup +[0.174s] [ext: omni.blobkey-1.1.2] startup +[0.175s] [ext: omni.stats-1.0.1] startup +[0.175s] [ext: omni.datastore-0.0.0] startup +[0.181s] [ext: omni.client-1.3.0] startup +[0.185s] [ext: omni.ujitso.default-1.0.0] startup +[0.186s] [ext: omni.hsscclient-1.1.2] startup +[0.208s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.210s] [ext: omni.assets.plugins-0.0.0] startup +[0.211s] [ext: omni.gpu_foundation-0.0.0] startup +[0.218s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:33:43Z [200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:43Z [200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.219s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:33:43Z [269ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:33:43Z [270ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:33:43Z [270ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:33:43Z [270ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:33:43Z [700ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:33:44Z [1,234ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,234ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,235ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,235ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,236ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,236ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,237ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,237ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,238ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,238ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:44Z [1,239ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 541003 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.976s] [ext: omni.materialx.libs-1.0.7] startup +[1.983s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.984s] [ext: omni.kit.test-2.0.1] startup +[2.023s] [ext: omni.kit.pipapi-0.0.0] startup +[2.024s] [ext: omni.usd.config-1.0.6] startup +[2.027s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.027s] [ext: omni.usd.libs-1.0.1] startup +[2.104s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.104s] [ext: omni.mdl-56.0.3] startup +[2.160s] [ext: omni.iray.libs-0.0.0] startup +[2.166s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.168s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.255s] [ext: omni.kit.telemetry-0.5.2] startup +[2.284s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:33:45Z [2,267ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:45Z [2,267ms] [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) +[2.288s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:33:45Z [2,282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:45Z [2,282ms] [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) +2026-07-24T14:33:45Z [2,290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:45Z [2,290ms] [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) +[2.310s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.312s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:33:45Z [2,296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:45Z [2,296ms] [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) +2026-07-24T14:33:45Z [2,297ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:45Z [2,297ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:45Z [2,298ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:45Z [2,298ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.390s] [ext: omni.ui-2.27.1] startup +[2.399s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.400s] [ext: carb.audio-0.1.0] startup +[2.425s] [ext: omni.uiaudio-1.0.0] startup +[2.426s] [ext: omni.kit.uiapp-0.0.0] startup +[2.426s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.428s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.433s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.435s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.438s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.440s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.457s] [ext: omni.usd_resolver-1.0.0] startup +[2.460s] [ext: omni.usd.core-1.5.3] startup +[2.462s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.480s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.486s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.514s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.515s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.515s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.518s] [ext: omni.graph.exec-0.9.6] startup +[2.519s] [ext: omni.kit.actions.core-1.0.0] startup +[2.521s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.521s] [ext: omni.kit.exec.core-0.13.4] startup +[2.522s] [ext: omni.kit.commands-1.4.10] startup +[2.525s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.528s] [ext: omni.activity.core-1.0.3] startup +[2.529s] [ext: omni.resourcemonitor-107.0.1] startup +[2.530s] [ext: omni.timeline-1.0.14] startup +[2.532s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.533s] [ext: usdrt.scenegraph-7.6.1] startup +[2.564s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.565s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.570s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.574s] [ext: omni.usd-1.13.10] startup +[2.594s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.604s] [ext: omni.index.libs-380600.8087.0] startup +[2.604s] [ext: omni.volume-0.5.2] startup +[2.606s] [ext: omni.ujitso.client-0.0.0] startup +[2.607s] [ext: omni.index-1.0.1] startup +[2.607s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.608s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:33:45Z [2,607ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.638s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.639s] [ext: omni.kit.clipboard-1.0.5] startup +[2.639s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.641s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.682s] [ext: omni.kit.menu.core-1.1.2] startup +[2.682s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.685s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.686s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.687s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.687s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.688s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.692s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.692s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.699s] [ext: omni.ui.scene-1.11.5] startup +[2.702s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.702s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.714s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.719s] [ext: omni.kit.context_menu-1.8.6] startup +[2.721s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.724s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.727s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.728s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.729s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.729s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.732s] [ext: omni.kit.material.library-2.0.7] startup +[2.736s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.738s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.740s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.751s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.755s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.759s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.760s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.763s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.766s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.767s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.768s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.769s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.770s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.771s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.776s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.778s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.779s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.780s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.781s] [ext: omni.fabric.commands-1.1.6] startup +[2.783s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.784s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.785s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.786s] [ext: omni.debugdraw-0.1.4] startup +[2.788s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.797s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.797s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.797s] [ext: omni.kvdb-107.3.26] startup +[2.799s] [ext: omni.convexdecomposition-107.3.26] startup +[2.801s] [ext: omni.physx.foundation-107.3.26] startup +[2.802s] [ext: omni.localcache-107.3.26] startup +[2.803s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.804s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.804s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.805s] [ext: omni.usdphysics-107.3.26] startup +[2.806s] [ext: omni.kit.window.file-2.0.5] startup +[2.809s] [ext: omni.physx.cooking-107.3.26] startup +[2.811s] [ext: omni.physics-107.3.26] startup +[2.813s] [ext: omni.kit.window.property-1.12.1] startup +[2.816s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.824s] [ext: omni.physx-107.3.26] startup +[2.832s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.834s] [ext: omni.kit.property.usd-4.5.12] startup +[2.842s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.843s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:33:46Z [2,826ms] [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. +[2.844s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.845s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.855s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.859s] [ext: omni.inspect-1.0.2] startup +[2.860s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.869s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.870s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.875s] [ext: omni.graph.core-2.184.5] startup +[2.877s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.879s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.900s] [ext: omni.physx.commands-107.3.26] startup +[2.904s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.904s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:33:46Z [2,890ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.909s] [ext: omni.physx.ui-107.3.26] startup +[2.934s] [ext: isaacsim.core.version-2.0.6] startup +[2.935s] [ext: omni.physics.tensors-107.3.26] startup +[2.938s] [ext: omni.warp.core-1.8.2] startup +[3.101s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.103s] [ext: isaacsim.storage.native-1.5.1] startup +[3.104s] [ext: omni.physx.tensors-107.3.26] startup +[3.108s] [ext: isaacsim.core.utils-3.5.1] startup +[3.111s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.328s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.329s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.331s] [ext: omni.kit.window.stage-2.6.1] startup +[4.335s] [ext: omni.kit.menu.create-2.0.1] startup +[4.336s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.341s] [ext: omni.kit.scripting-107.3.2] startup +[4.345s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.348s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.349s] [ext: omni.graph.tools-1.79.2] startup +[4.369s] [ext: omni.ui_query-1.1.8] startup +[4.369s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.370s] [ext: omni.graph-1.141.2] startup +[4.405s] [ext: omni.graph.action_core-1.1.7] startup +[4.407s] [ext: omni.kit.ui_test-1.3.7] startup +[4.410s] [ext: omni.kit.browser.core-2.3.13] startup +[4.414s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.417s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.422s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.423s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.436s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.439s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.450s] [ext: omni.graph.action-1.130.0] startup +[4.454s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.457s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.464s] [ext: isaacsim.gui.components-1.2.1] startup +[4.471s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.476s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.617s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.623s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.628s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.693s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:33:47Z [4,680ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.701s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.703s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.706s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.713s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.716s] [ext: omni.graph.image.core-0.6.1] startup +[4.718s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.719s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.721s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.723s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.726s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.727s] [ext: omni.graph.nodes-1.170.10] startup +[4.735s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.741s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.748s] [ext: omni.syntheticdata-0.6.13] startup +[4.782s] [ext: omni.videoencoding-0.1.2] startup +[4.786s] [ext: omni.warp-1.8.2] startup +[4.795s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.826s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.832s] [ext: isaacsim.core.prims-0.6.1] startup +[4.878s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.888s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:33:48Z [5,040ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:33:48Z [5,040ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:33:48Z [5,040ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.066s] [ext: isaacsim.core.api-4.8.0] startup +[5.088s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.127s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.141s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.148s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.156s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.176s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.183s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.197s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.209s] [ext: omni.sensors.net-1.0.0] startup +[5.213s] [ext: isaacsim.app.about-2.0.11] startup +[5.216s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.218s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.224s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.238s] [ext: omni.kit.property.audio-1.0.16] startup +[5.248s] [ext: omni.kit.property.camera-1.0.10] startup +[5.256s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.276s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.288s] [ext: omni.kit.property.light-1.0.12] startup +[5.318s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.322s] [ext: omni.kit.selection-0.1.6] startup +[5.330s] [ext: omni.kit.property.material-1.11.9] startup +[5.457s] [ext: omni.kit.property.transform-1.5.13] startup +[5.505s] [ext: omni.kit.property.render-1.2.1] startup +[5.552s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.569s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.655s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.765s] [ext: isaacsim.gui.property-1.1.3] startup +[5.838s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.926s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.973s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.005s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.051s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.068s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.081s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.089s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.097s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.113s] [ext: omni.kit.window.console-1.1.4] startup +[6.127s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.136s] [ext: omni.ocio-0.1.1] startup +[6.139s] [ext: omni.physx.demos-107.3.26] startup +[6.169s] [ext: omni.kit.property.physx-107.3.26] startup +[6.193s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.198s] [ext: omni.asset_validator.core-1.1.6] startup +[6.248s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.252s] [ext: omni.physx.vehicle-107.3.26] startup +[6.268s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.281s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.284s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.290s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.297s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.302s] [ext: omni.physx.camera-107.3.26] startup +[6.312s] [ext: omni.anim.curve.core-1.3.1] startup +[6.328s] [ext: omni.physx.cct-107.3.26] startup +[6.347s] [ext: omni.physx.graph-107.3.26] startup +[6.364s] [ext: omni.physx.supportui-107.3.26] startup +[6.388s] [ext: omni.physx.telemetry-107.3.26] startup +[6.391s] [ext: isaaclab-0.54.3] startup +[6.609s] [ext: isaaclab_contrib-0.0.2] startup +[6.611s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.612s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.618s] [ext: semantics.schema.property-2.0.1] startup +[6.620s] [ext: omni.physx.bundle-107.3.26] startup +[6.621s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.625s] [ext: isaaclab_assets-0.2.4] startup +[6.902s] [ext: isaaclab_tasks-0.11.14] startup +[7.062s] [ext: omni.kit.menu.common-2.0.1] startup +[7.063s] [ext: isaaclab_rl-0.5.0] startup +[7.066s] [ext: isaaclab_mimic-1.0.16] startup +[7.067s] [ext: isaaclab.python-2.3.2] startup +[7.069s] Simulation App Starting +2026-07-24T14:33:50Z [7,120ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:33:50Z [7,125ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:33:50Z [7,125ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:33:50Z [7,125ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:33:50Z [7,154ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.203s] app ready +[11.630s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-34-11.log +====================================================================================================== + +22:34:11 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 9 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:34:11Z [28,390ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:34:11Z [28,483ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:11Z [28,496ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:11Z [28,505ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.524979 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:34:11Z [28,520ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:11Z [28,526ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:12Z [28,912ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:12Z [28,913ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:12Z [28,915ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:12Z [28,916ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:12Z [28,916ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +2026-07-24T14:34:12Z [28,917ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578dbc6d9e0:World0.usd@ <0x5578e84f46d0>) + +[INFO]: Time taken for simulation start : 0.646036 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:34:21Z [38,327ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:34:27Z [44,300ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:27Z [44,301ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:27Z [44,301ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:27Z [44,301ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:33Z [50,409ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=9 variant=38 rng_seed=109038 piece_order=[0, 3, 1, 2, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_5 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[1, 2, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece2 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=1 +env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 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env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[8] +[curobo-ttt] semantic move=5/5 piece=player_piece4 grasp=right_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=8 +env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1004 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-33-40_semantic-w00-s0004-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0004-a000,split=all,layout=9,variant=38,behavior=28/2026-07-24_22-33-40_semantic-w00-s0004-a000/episode_0000000_cam_head_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0004-a000,split=all,layout=9,variant=38,behavior=28/2026-07-24_22-33-40_semantic-w00-s0004-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0004-a000,split=all,layout=9,variant=38,behavior=28/2026-07-24_22-33-40_semantic-w00-s0004-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w00-s0004-a000,split=all,layout=9,variant=38,behavior=28/_resume_2026-07-24_22-33-40_semantic-w00-s0004-a000.json (eval completed) +2026-07-24T14:38:11Z [267,819ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:11Z [267,819ms] [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) +[268.170s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-44_semantic-w03-s0004-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-44_semantic-w03-s0004-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..307ca6a0b66b8de94f6fbaf96b0858559a6a7fa3 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-44_semantic-w03-s0004-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-33-44_semantic-w03-s0004-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223346.log +[0.054s] [ext: omni.kit.async_engine-0.0.3] startup +[0.193s] [ext: omni.metrics.core-0.0.3] startup +[0.194s] [ext: omni.client.lib-1.1.0] startup +[0.206s] [ext: omni.blobkey-1.1.2] startup +[0.206s] [ext: omni.stats-1.0.1] startup +[0.207s] [ext: omni.datastore-0.0.0] startup +[0.213s] [ext: omni.client-1.3.0] startup +[0.217s] [ext: omni.ujitso.default-1.0.0] startup +[0.218s] [ext: omni.hsscclient-1.1.2] startup +[0.243s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.244s] [ext: omni.assets.plugins-0.0.0] startup +[0.245s] [ext: omni.gpu_foundation-0.0.0] startup +[0.252s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:33:47Z [232ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:47Z [232ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.253s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:33:47Z [297ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:33:47Z [299ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:33:47Z [299ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:33:47Z [299ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:33:47Z [354ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:33:48Z [1,094ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,094ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,095ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,095ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,095ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,095ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,097ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,097ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,098ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,098ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:48Z [1,099ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 540115 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.091s] [ext: omni.materialx.libs-1.0.7] startup +[2.098s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.099s] [ext: omni.kit.test-2.0.1] startup +[2.137s] [ext: omni.kit.pipapi-0.0.0] startup +[2.138s] [ext: omni.usd.config-1.0.6] startup +[2.140s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.141s] [ext: omni.usd.libs-1.0.1] startup +[2.216s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.217s] [ext: omni.mdl-56.0.3] startup +[2.272s] [ext: omni.iray.libs-0.0.0] startup +[2.277s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.279s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.366s] [ext: omni.kit.telemetry-0.5.2] startup +[2.401s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:33:49Z [2,381ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:49Z [2,381ms] [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) +[2.404s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:33:49Z [2,397ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:49Z [2,397ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:49Z [2,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:49Z [2,406ms] [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) +[2.428s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.430s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:33:49Z [2,412ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:49Z [2,412ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:33:49Z [2,413ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:49Z [2,413ms] [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) +2026-07-24T14:33:49Z [2,414ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:49Z [2,414ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.058s] [ext: omni.ui-2.27.1] startup +[3.069s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.071s] [ext: carb.audio-0.1.0] startup +[3.097s] [ext: omni.uiaudio-1.0.0] startup +[3.098s] [ext: omni.kit.uiapp-0.0.0] startup +[3.098s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.101s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.110s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.113s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.118s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.122s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.148s] [ext: omni.usd_resolver-1.0.0] startup +[3.153s] [ext: omni.usd.core-1.5.3] startup +[3.156s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.185s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.193s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.222s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.223s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.224s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.228s] [ext: omni.graph.exec-0.9.6] startup +[3.228s] [ext: omni.kit.actions.core-1.0.0] startup +[3.230s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.231s] [ext: omni.kit.exec.core-0.13.4] startup +[3.232s] [ext: omni.kit.commands-1.4.10] startup +[3.235s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.239s] [ext: omni.activity.core-1.0.3] startup +[3.240s] [ext: omni.resourcemonitor-107.0.1] startup +[3.241s] [ext: omni.timeline-1.0.14] startup +[3.243s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.244s] [ext: usdrt.scenegraph-7.6.1] startup +[3.281s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.282s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.288s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.292s] [ext: omni.usd-1.13.10] startup +[3.313s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.325s] [ext: omni.index.libs-380600.8087.0] startup +[3.325s] [ext: omni.volume-0.5.2] startup +[3.328s] [ext: omni.ujitso.client-0.0.0] startup +[3.328s] [ext: omni.index-1.0.1] startup +[3.328s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.329s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:33:50Z [3,328ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.361s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.363s] [ext: omni.kit.clipboard-1.0.5] startup +[3.364s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.366s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.370s] [ext: omni.kit.menu.core-1.1.2] startup +[3.371s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.373s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.374s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.375s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.376s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.377s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.381s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.381s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.388s] [ext: omni.ui.scene-1.11.5] startup +[3.392s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.393s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.405s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.411s] [ext: omni.kit.context_menu-1.8.6] startup +[3.412s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.416s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.419s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.421s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.421s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.422s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.425s] [ext: omni.kit.material.library-2.0.7] startup +[3.429s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.431s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.433s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.446s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.450s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.455s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.455s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.460s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.464s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.465s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.466s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.468s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.468s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.469s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.474s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.477s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.478s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.479s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.481s] [ext: omni.fabric.commands-1.1.6] startup +[3.483s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.483s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.484s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.485s] [ext: omni.debugdraw-0.1.4] startup +[3.488s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.497s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.498s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.498s] [ext: omni.kvdb-107.3.26] startup +[3.499s] [ext: omni.convexdecomposition-107.3.26] startup +[3.501s] [ext: omni.physx.foundation-107.3.26] startup +[3.503s] [ext: omni.localcache-107.3.26] startup +[3.504s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.504s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.505s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.505s] [ext: omni.usdphysics-107.3.26] startup +[3.507s] [ext: omni.kit.window.file-2.0.5] startup +[3.509s] [ext: omni.physx.cooking-107.3.26] startup +[3.512s] [ext: omni.physics-107.3.26] startup +[3.514s] [ext: omni.kit.window.property-1.12.1] startup +[3.517s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.527s] [ext: omni.physx-107.3.26] startup +[3.536s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.538s] [ext: omni.kit.property.usd-4.5.12] startup +[3.548s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.549s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:33:50Z [3,529ms] [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. +[3.550s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.551s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.562s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.566s] [ext: omni.inspect-1.0.2] startup +[3.567s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.577s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.578s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.584s] [ext: omni.graph.core-2.184.5] startup +[3.586s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.588s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.611s] [ext: omni.physx.commands-107.3.26] startup +[3.616s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.617s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:33:50Z [3,601ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.622s] [ext: omni.physx.ui-107.3.26] startup +[3.649s] [ext: isaacsim.core.version-2.0.6] startup +[3.649s] [ext: omni.physics.tensors-107.3.26] startup +[3.654s] [ext: omni.warp.core-1.8.2] startup +[3.811s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.812s] [ext: isaacsim.storage.native-1.5.1] startup +[3.814s] [ext: omni.physx.tensors-107.3.26] startup +[3.818s] [ext: isaacsim.core.utils-3.5.1] startup +[3.821s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.068s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.070s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.072s] [ext: omni.kit.window.stage-2.6.1] startup +[5.075s] [ext: omni.kit.menu.create-2.0.1] startup +[5.076s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.081s] [ext: omni.kit.scripting-107.3.2] startup +[5.084s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.087s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.088s] [ext: omni.graph.tools-1.79.2] startup +[5.105s] [ext: omni.ui_query-1.1.8] startup +[5.106s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.106s] [ext: omni.graph-1.141.2] startup +[5.140s] [ext: omni.graph.action_core-1.1.7] startup +[5.144s] [ext: omni.kit.ui_test-1.3.7] startup +[5.145s] [ext: omni.kit.browser.core-2.3.13] startup +[5.149s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.152s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.155s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.158s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.170s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.174s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.184s] [ext: omni.graph.action-1.130.0] startup +[5.188s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.192s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.199s] [ext: isaacsim.gui.components-1.2.1] startup +[5.204s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.212s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.327s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.334s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.342s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.401s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:33:52Z [5,388ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.411s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.413s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.416s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.423s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.425s] [ext: omni.graph.image.core-0.6.1] startup +[5.427s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.428s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.430s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.434s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.437s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.439s] [ext: omni.graph.nodes-1.170.10] startup +[5.448s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.453s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.458s] [ext: omni.syntheticdata-0.6.13] startup +[5.486s] [ext: omni.videoencoding-0.1.2] startup +[5.491s] [ext: omni.warp-1.8.2] startup +[5.498s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.517s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.521s] [ext: isaacsim.core.prims-0.6.1] startup +[5.551s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.559s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:33:52Z [5,707ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:33:52Z [5,707ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:33:52Z [5,710ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.737s] [ext: isaacsim.core.api-4.8.0] startup +[5.780s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.856s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.873s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.896s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.904s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.916s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.922s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.934s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.941s] [ext: omni.sensors.net-1.0.0] startup +[5.946s] [ext: isaacsim.app.about-2.0.11] startup +[5.948s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.949s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.956s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.972s] [ext: omni.kit.property.audio-1.0.16] startup +[5.986s] [ext: omni.kit.property.camera-1.0.10] startup +[5.989s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.998s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.011s] [ext: omni.kit.property.light-1.0.12] startup +[6.034s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.037s] [ext: omni.kit.selection-0.1.6] startup +[6.041s] [ext: omni.kit.property.material-1.11.9] startup +[6.121s] [ext: omni.kit.property.transform-1.5.13] startup +[6.137s] [ext: omni.kit.property.render-1.2.1] startup +[6.142s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.146s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.175s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.202s] [ext: isaacsim.gui.property-1.1.3] startup +[6.207s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.214s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.250s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.269s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.332s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.412s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.495s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.545s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.553s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.592s] [ext: omni.kit.window.console-1.1.4] startup +[6.665s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.686s] [ext: omni.ocio-0.1.1] startup +[6.689s] [ext: omni.physx.demos-107.3.26] startup +[6.781s] [ext: omni.kit.property.physx-107.3.26] startup +[6.840s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.851s] [ext: omni.asset_validator.core-1.1.6] startup +[6.954s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.961s] [ext: omni.physx.vehicle-107.3.26] startup +[6.985s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.998s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.002s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.013s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.026s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.033s] [ext: omni.physx.camera-107.3.26] startup +[7.053s] [ext: omni.anim.curve.core-1.3.1] startup +[7.070s] [ext: omni.physx.cct-107.3.26] startup +[7.097s] [ext: omni.physx.graph-107.3.26] startup +[7.120s] [ext: omni.physx.supportui-107.3.26] startup +[7.151s] [ext: omni.physx.telemetry-107.3.26] startup +[7.160s] [ext: isaaclab-0.54.3] startup +[7.425s] [ext: isaaclab_contrib-0.0.2] startup +[7.428s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.430s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.435s] [ext: semantics.schema.property-2.0.1] startup +[7.438s] [ext: omni.physx.bundle-107.3.26] startup +[7.441s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.446s] [ext: isaaclab_assets-0.2.4] startup +[7.752s] [ext: isaaclab_tasks-0.11.14] startup +[7.936s] [ext: omni.kit.menu.common-2.0.1] startup +[7.937s] [ext: isaaclab_rl-0.5.0] startup +[7.939s] [ext: isaaclab_mimic-1.0.16] startup +[7.941s] [ext: isaaclab.python-2.3.2] startup +[7.944s] Simulation App Starting +2026-07-24T14:33:55Z [8,003ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:33:55Z [8,007ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:33:55Z [8,007ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:33:55Z [8,007ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:33:55Z [8,029ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.072s] app ready +[12.573s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-34-14.log +====================================================================================================== + +22:34:14 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 10 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:34:14Z [27,976ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:34:15Z [28,103ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:15Z [28,116ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:15Z [28,125ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.613307 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:34:15Z [28,138ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,143ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,527ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,527ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,529ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,530ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,531ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +2026-07-24T14:34:15Z [28,531ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555f32a18e30:World0.usd@ <0x555f3f2c55f0>) + +[INFO]: Time taken for simulation start : 0.644649 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:34:24Z [37,983ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:34:29Z [42,296ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:29Z [42,296ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:29Z [42,296ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:29Z [42,296ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:36Z [49,802ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=10 variant=41 rng_seed=110041 piece_order=[1, 0, 4, 2, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 216 / 1100 env0 step: 217 / 1100 env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 [curobo-ttt] opponent=1/4 complete placed=2 empty=[1, 3, 4, 5, 6, 7, 8] +[curobo-ttt] semantic move=2/5 piece=player_piece0 grasp=left_side arm=left target=cell_6 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=6 +env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 / 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+[curobo-ttt] semantic move=4/5 piece=player_piece2 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=1 +env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 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863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[5] +[curobo-ttt] semantic move=5/5 piece=player_piece3 grasp=right_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=5 +env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=977 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-33-44_semantic-w03-s0004-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0004-a000,split=all,layout=10,variant=41,behavior=31/2026-07-24_22-33-44_semantic-w03-s0004-a000/episode_0000000_cam_head_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0004-a000,split=all,layout=10,variant=41,behavior=31/2026-07-24_22-33-44_semantic-w03-s0004-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0004-a000,split=all,layout=10,variant=41,behavior=31/2026-07-24_22-33-44_semantic-w03-s0004-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 197 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w03-s0004-a000,split=all,layout=10,variant=41,behavior=31/_resume_2026-07-24_22-33-44_semantic-w03-s0004-a000.json (eval completed) +2026-07-24T14:38:07Z [260,282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:07Z [260,282ms] [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) +[260.625s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-56_semantic-w04-s0004-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-56_semantic-w04-s0004-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..e1349da525d47586b24c13d32ef3ab770e3ebb83 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-33-56_semantic-w04-s0004-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54004 +[INFO] device_id = 4 → CUDA_VISIBLE_DEVICES=4 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-33-56_semantic-w04-s0004-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223358.log +[0.055s] [ext: omni.kit.async_engine-0.0.3] startup +[0.172s] [ext: omni.metrics.core-0.0.3] startup +[0.172s] [ext: omni.client.lib-1.1.0] startup +[0.186s] [ext: omni.blobkey-1.1.2] startup +[0.186s] [ext: omni.stats-1.0.1] startup +[0.187s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.196s] [ext: omni.ujitso.default-1.0.0] startup +[0.198s] [ext: omni.hsscclient-1.1.2] startup +[0.219s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.220s] [ext: omni.assets.plugins-0.0.0] startup +[0.221s] [ext: omni.gpu_foundation-0.0.0] startup +[0.227s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:33:58Z [208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:33:58Z [208ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.228s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:33:58Z [278ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:33:58Z [282ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:33:58Z [282ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:33:58Z [282ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:33:58Z [314ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:33:59Z [1,077ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,077ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,078ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,078ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,079ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,079ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,080ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,080ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,082ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,082ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:33:59Z [1,083ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 539488 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.912s] [ext: omni.materialx.libs-1.0.7] startup +[1.919s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.920s] [ext: omni.kit.test-2.0.1] startup +[1.959s] [ext: omni.kit.pipapi-0.0.0] startup +[1.959s] [ext: omni.usd.config-1.0.6] startup +[1.962s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.963s] [ext: omni.usd.libs-1.0.1] startup +[2.038s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.039s] [ext: omni.mdl-56.0.3] startup +[2.094s] [ext: omni.iray.libs-0.0.0] startup +[2.099s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.102s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.187s] [ext: omni.kit.telemetry-0.5.2] startup +[2.216s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:34:00Z [2,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:34:00Z [2,197ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.219s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:34:00Z [2,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:34:00Z [2,213ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:34:00Z [2,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:34:00Z [2,221ms] [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) +[2.242s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.244s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:34:00Z [2,227ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:34:00Z [2,227ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:34:00Z [2,228ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:34:00Z [2,228ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:34:00Z [2,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:34:00Z [2,229ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.341s] [ext: omni.ui-2.27.1] startup +[2.350s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.351s] [ext: carb.audio-0.1.0] startup +[2.376s] [ext: omni.uiaudio-1.0.0] startup +[2.377s] [ext: omni.kit.uiapp-0.0.0] startup +[2.377s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.379s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.384s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.386s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.389s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.391s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.408s] [ext: omni.usd_resolver-1.0.0] startup +[2.411s] [ext: omni.usd.core-1.5.3] startup +[2.413s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.431s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.438s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.465s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.466s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.466s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.470s] [ext: omni.graph.exec-0.9.6] startup +[2.470s] [ext: omni.kit.actions.core-1.0.0] startup +[2.472s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.472s] [ext: omni.kit.exec.core-0.13.4] startup +[2.473s] [ext: omni.kit.commands-1.4.10] startup +[2.476s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.479s] [ext: omni.activity.core-1.0.3] startup +[2.480s] [ext: omni.resourcemonitor-107.0.1] startup +[2.481s] [ext: omni.timeline-1.0.14] startup +[2.483s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.485s] [ext: usdrt.scenegraph-7.6.1] startup +[2.515s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.516s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.521s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.525s] [ext: omni.usd-1.13.10] startup +[2.545s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.555s] [ext: omni.index.libs-380600.8087.0] startup +[2.555s] [ext: omni.volume-0.5.2] startup +[2.557s] [ext: omni.ujitso.client-0.0.0] startup +[2.558s] [ext: omni.index-1.0.1] startup +[2.558s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.559s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:34:00Z [2,556ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.588s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.590s] [ext: omni.kit.clipboard-1.0.5] startup +[2.590s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.592s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.596s] [ext: omni.kit.menu.core-1.1.2] startup +[2.597s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.599s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.600s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.601s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.602s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.602s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.606s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.606s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.613s] [ext: omni.ui.scene-1.11.5] startup +[2.616s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.617s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.628s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.633s] [ext: omni.kit.context_menu-1.8.6] startup +[2.635s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.638s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.641s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.643s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.643s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.644s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.647s] [ext: omni.kit.material.library-2.0.7] startup +[2.650s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.652s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.654s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.666s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.669s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.673s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.673s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.677s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.680s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.681s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.682s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.684s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.684s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.685s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.690s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.692s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.693s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.694s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.695s] [ext: omni.fabric.commands-1.1.6] startup +[2.697s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.698s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.699s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.700s] [ext: omni.debugdraw-0.1.4] startup +[2.702s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.711s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.712s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.712s] [ext: omni.kvdb-107.3.26] startup +[2.713s] [ext: omni.convexdecomposition-107.3.26] startup +[2.715s] [ext: omni.physx.foundation-107.3.26] startup +[2.716s] [ext: omni.localcache-107.3.26] startup +[2.717s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.718s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.718s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.719s] [ext: omni.usdphysics-107.3.26] startup +[2.721s] [ext: omni.kit.window.file-2.0.5] startup +[2.723s] [ext: omni.physx.cooking-107.3.26] startup +[2.725s] [ext: omni.physics-107.3.26] startup +[2.728s] [ext: omni.kit.window.property-1.12.1] startup +[2.730s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.738s] [ext: omni.physx-107.3.26] startup +[2.746s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.748s] [ext: omni.kit.property.usd-4.5.12] startup +[2.756s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.757s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:34:00Z [2,738ms] [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. +[2.758s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.759s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.769s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.772s] [ext: omni.inspect-1.0.2] startup +[2.773s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.782s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.783s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.789s] [ext: omni.graph.core-2.184.5] startup +[2.791s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.792s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.814s] [ext: omni.physx.commands-107.3.26] startup +[2.818s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.818s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:34:00Z [2,803ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.823s] [ext: omni.physx.ui-107.3.26] startup +[2.848s] [ext: isaacsim.core.version-2.0.6] startup +[2.848s] [ext: omni.physics.tensors-107.3.26] startup +[2.852s] [ext: omni.warp.core-1.8.2] startup +[3.008s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.010s] [ext: isaacsim.storage.native-1.5.1] startup +[3.011s] [ext: omni.physx.tensors-107.3.26] startup +[3.016s] [ext: isaacsim.core.utils-3.5.1] startup +[3.018s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.227s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.227s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.229s] [ext: omni.kit.window.stage-2.6.1] startup +[4.232s] [ext: omni.kit.menu.create-2.0.1] startup +[4.234s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.239s] [ext: omni.kit.scripting-107.3.2] startup +[4.242s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.245s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.246s] [ext: omni.graph.tools-1.79.2] startup +[4.264s] [ext: omni.ui_query-1.1.8] startup +[4.265s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.265s] [ext: omni.graph-1.141.2] startup +[4.303s] [ext: omni.graph.action_core-1.1.7] startup +[4.306s] [ext: omni.kit.ui_test-1.3.7] startup +[4.308s] [ext: omni.kit.browser.core-2.3.13] startup +[4.313s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.316s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.319s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.322s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.333s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.336s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.347s] [ext: omni.graph.action-1.130.0] startup +[4.350s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.353s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.362s] [ext: isaacsim.gui.components-1.2.1] startup +[4.367s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.378s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.496s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.501s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.509s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.600s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:34:02Z [4,588ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.610s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.610s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.615s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.621s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.626s] [ext: omni.graph.image.core-0.6.1] startup +[4.628s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.629s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.632s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.633s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.636s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.639s] [ext: omni.graph.nodes-1.170.10] startup +[4.650s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.656s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.659s] [ext: omni.syntheticdata-0.6.13] startup +[4.689s] [ext: omni.videoencoding-0.1.2] startup +[4.694s] [ext: omni.warp-1.8.2] startup +[4.700s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.718s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.722s] [ext: isaacsim.core.prims-0.6.1] startup +[4.756s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.760s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:34:03Z [4,914ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:34:03Z [4,915ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:34:03Z [4,919ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[4.945s] [ext: isaacsim.core.api-4.8.0] startup +[4.982s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.053s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.080s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.094s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.107s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.125s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.134s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.149s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.157s] [ext: omni.sensors.net-1.0.0] startup +[5.167s] [ext: isaacsim.app.about-2.0.11] startup +[5.176s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.177s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.195s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.209s] [ext: omni.kit.property.audio-1.0.16] startup +[5.244s] [ext: omni.kit.property.camera-1.0.10] startup +[5.259s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.303s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.317s] [ext: omni.kit.property.light-1.0.12] startup +[5.364s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.369s] [ext: omni.kit.selection-0.1.6] startup +[5.391s] [ext: omni.kit.property.material-1.11.9] startup +[5.481s] [ext: omni.kit.property.transform-1.5.13] startup +[5.511s] [ext: omni.kit.property.render-1.2.1] startup +[5.520s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.532s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.581s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.613s] [ext: isaacsim.gui.property-1.1.3] startup +[5.627s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.635s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.679s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.708s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.824s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.918s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.212s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.231s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.242s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.287s] [ext: omni.kit.window.console-1.1.4] startup +[6.310s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.338s] [ext: omni.ocio-0.1.1] startup +[6.348s] [ext: omni.physx.demos-107.3.26] startup +[6.412s] [ext: omni.kit.property.physx-107.3.26] startup +[6.466s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.476s] [ext: omni.asset_validator.core-1.1.6] startup +[6.578s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.587s] [ext: omni.physx.vehicle-107.3.26] startup +[6.614s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.629s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.635s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.648s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.664s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.672s] [ext: omni.physx.camera-107.3.26] startup +[6.690s] [ext: omni.anim.curve.core-1.3.1] startup +[6.714s] [ext: omni.physx.cct-107.3.26] startup +[6.733s] [ext: omni.physx.graph-107.3.26] startup +[6.756s] [ext: omni.physx.supportui-107.3.26] startup +[6.789s] [ext: omni.physx.telemetry-107.3.26] startup +[6.799s] [ext: isaaclab-0.54.3] startup +[7.116s] [ext: isaaclab_contrib-0.0.2] startup +[7.118s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.121s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.126s] [ext: semantics.schema.property-2.0.1] startup +[7.129s] [ext: omni.physx.bundle-107.3.26] startup +[7.133s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.137s] [ext: isaaclab_assets-0.2.4] startup +[7.408s] [ext: isaaclab_tasks-0.11.14] startup +[7.561s] [ext: omni.kit.menu.common-2.0.1] startup +[7.564s] [ext: isaaclab_rl-0.5.0] startup +[7.567s] [ext: isaaclab_mimic-1.0.16] startup +[7.568s] [ext: isaaclab.python-2.3.2] startup +[7.572s] Simulation App Starting +2026-07-24T14:34:05Z [7,617ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:34:05Z [7,621ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:34:05Z [7,621ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:34:05Z [7,621ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:34:05Z [7,645ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.691s] app ready +[11.639s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54004 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54004 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-34-24.log +====================================================================================================== + +22:34:24 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 10 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:34:24Z [26,676ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:34:24Z [26,803ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:24Z [26,816ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:34:24Z [26,825ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.597715 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:34:24Z [26,837ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:24Z [26,842ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:25Z [27,234ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:25Z [27,234ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:25Z [27,237ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:25Z [27,237ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:25Z [27,238ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +2026-07-24T14:34:25Z [27,239ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5654fb5fea30:World0.usd@ <0x565507e28c00>) + +[INFO]: Time taken for simulation start : 0.651042 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:34:35Z [37,536ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:34:36Z [38,030ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:36Z [38,030ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:36Z [38,030ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:36Z [38,030ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:34:47Z [49,468ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=10 variant=42 rng_seed=210042 piece_order=[1, 2, 0, 4, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 693 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[3, 7, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece4 grasp=right_side arm=left target=cell_7 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=7 +env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 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env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[3] +[curobo-ttt] semantic move=5/5 piece=player_piece3 grasp=right_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=3 +env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1025 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-33-56_semantic-w04-s0004-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0004-a000,split=all,layout=10,variant=42,behavior=32/2026-07-24_22-33-56_semantic-w04-s0004-a000/episode_0000000_cam_head_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0004-a000,split=all,layout=10,variant=42,behavior=32/2026-07-24_22-33-56_semantic-w04-s0004-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0004-a000,split=all,layout=10,variant=42,behavior=32/2026-07-24_22-33-56_semantic-w04-s0004-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 206 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0004-a000,split=all,layout=10,variant=42,behavior=32/_resume_2026-07-24_22-33-56_semantic-w04-s0004-a000.json (eval completed) +2026-07-24T14:38:30Z [272,694ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:30Z [272,694ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[273.040s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-38-09_semantic-w03-s0005-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-38-09_semantic-w03-s0005-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..c76ceaa416af138d6e38c984ef20a74331da95e1 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-38-09_semantic-w03-s0005-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-38-09_semantic-w03-s0005-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223811.log +[0.059s] [ext: omni.kit.async_engine-0.0.3] startup +[0.186s] [ext: omni.metrics.core-0.0.3] startup +[0.186s] [ext: omni.client.lib-1.1.0] startup +[0.199s] [ext: omni.blobkey-1.1.2] startup +[0.199s] [ext: omni.stats-1.0.1] startup +[0.199s] [ext: omni.datastore-0.0.0] startup +[0.205s] [ext: omni.client-1.3.0] startup +[0.210s] [ext: omni.ujitso.default-1.0.0] startup +[0.211s] [ext: omni.hsscclient-1.1.2] startup +[0.235s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.237s] [ext: omni.assets.plugins-0.0.0] startup +[0.238s] [ext: omni.gpu_foundation-0.0.0] startup +[0.248s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:38:11Z [224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:11Z [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) +[0.248s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:38:11Z [287ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:38:11Z [292ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:38:11Z [292ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:38:11Z [292ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:38:11Z [323ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:38:13Z [2,651ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,651ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,653ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,653ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,654ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,654ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,657ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,657ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,658ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,658ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,659ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 540086 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.706s] [ext: omni.materialx.libs-1.0.7] startup +[3.713s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.714s] [ext: omni.kit.test-2.0.1] startup +[3.754s] [ext: omni.kit.pipapi-0.0.0] startup +[3.754s] [ext: omni.usd.config-1.0.6] startup +[3.757s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.757s] [ext: omni.usd.libs-1.0.1] startup +[3.834s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.834s] [ext: omni.mdl-56.0.3] startup +[3.891s] [ext: omni.iray.libs-0.0.0] startup +[3.897s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.899s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.017s] [ext: omni.kit.telemetry-0.5.2] startup +[4.061s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:38:15Z [4,038ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,038ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.065s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:38:15Z [4,053ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,053ms] [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) +2026-07-24T14:38:15Z [4,063ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,063ms] [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) +[4.089s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.092s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:38:15Z [4,072ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,072ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:38:15Z [4,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:38:15Z [4,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.408s] [ext: omni.ui-2.27.1] startup +[4.417s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.418s] [ext: carb.audio-0.1.0] startup +[4.445s] [ext: omni.uiaudio-1.0.0] startup +[4.446s] [ext: omni.kit.uiapp-0.0.0] startup +[4.446s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.448s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.455s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.457s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.461s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.463s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.485s] [ext: omni.usd_resolver-1.0.0] startup +[4.489s] [ext: omni.usd.core-1.5.3] startup +[4.798s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.829s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.838s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.873s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.874s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.875s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.879s] [ext: omni.graph.exec-0.9.6] startup +[4.880s] [ext: omni.kit.actions.core-1.0.0] startup +[4.882s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.883s] [ext: omni.kit.exec.core-0.13.4] startup +[4.884s] [ext: omni.kit.commands-1.4.10] startup +[4.887s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.890s] [ext: omni.activity.core-1.0.3] startup +[4.891s] [ext: omni.resourcemonitor-107.0.1] startup +[4.893s] [ext: omni.timeline-1.0.14] startup +[4.895s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.896s] [ext: usdrt.scenegraph-7.6.1] startup +[4.929s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.930s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.936s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.939s] [ext: omni.usd-1.13.10] startup +[4.961s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.972s] [ext: omni.index.libs-380600.8087.0] startup +[4.972s] [ext: omni.volume-0.5.2] startup +[4.974s] [ext: omni.ujitso.client-0.0.0] startup +[4.974s] [ext: omni.index-1.0.1] startup +[4.975s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.976s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:38:16Z [4,968ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[5.008s] [ext: omni.kit.notification_manager-1.0.10] startup +[5.010s] [ext: omni.kit.clipboard-1.0.5] startup +[5.011s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[5.013s] [ext: omni.kit.raycast.query-1.1.0] startup +[5.017s] [ext: omni.kit.menu.core-1.1.2] startup +[5.018s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[5.020s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[5.021s] [ext: omni.kit.widget.path_field-2.0.11] startup +[5.022s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[5.023s] [ext: omni.kit.widget.options_button-1.0.3] startup +[5.023s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[5.027s] 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omni.kit.window.file_exporter-1.0.33] startup +[5.125s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[5.126s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[5.127s] [ext: omni.debugdraw-0.1.4] startup +[5.131s] [ext: omni.kit.widget.stage-3.1.4] startup +[5.140s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[5.141s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[5.141s] [ext: omni.kvdb-107.3.26] startup +[5.142s] [ext: omni.convexdecomposition-107.3.26] startup +[5.144s] [ext: omni.physx.foundation-107.3.26] startup +[5.146s] [ext: omni.localcache-107.3.26] startup +[5.147s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[5.147s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[5.148s] [ext: omni.kit.stage_template.core-1.1.22] startup +[5.148s] [ext: omni.usdphysics-107.3.26] startup +[5.150s] [ext: omni.kit.window.file-2.0.5] startup +[5.152s] [ext: omni.physx.cooking-107.3.26] startup +[5.155s] [ext: omni.physics-107.3.26] startup +[5.157s] [ext: omni.kit.window.property-1.12.1] startup +[5.159s] [ext: omni.kit.window.content_browser-3.1.3] startup +[5.169s] [ext: omni.physx-107.3.26] startup +[5.178s] [ext: omni.physics.stageupdate-107.3.26] startup +[5.179s] [ext: omni.kit.property.usd-4.5.12] startup +[5.189s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[5.189s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:38:16Z [5,166ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[5.191s] [ext: omni.kit.widget.prompt-1.0.7] startup +[5.192s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[5.203s] [ext: omni.kit.viewport.actions-107.0.2] startup +[5.207s] [ext: omni.inspect-1.0.2] startup +[5.208s] [ext: omni.kit.widget.layers-1.8.6] startup +[5.218s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[5.219s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[5.224s] [ext: omni.graph.core-2.184.5] startup +[5.227s] [ext: omni.kit.numpy.common-0.1.3] startup +[5.228s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.251s] [ext: omni.physx.commands-107.3.26] startup +[5.255s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.256s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:38:16Z [5,236ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[5.261s] [ext: omni.physx.ui-107.3.26] startup +[5.288s] [ext: isaacsim.core.version-2.0.6] startup +[5.288s] [ext: omni.physics.tensors-107.3.26] startup +[5.292s] [ext: omni.warp.core-1.8.2] startup +[5.452s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.453s] [ext: isaacsim.storage.native-1.5.1] startup +[5.455s] [ext: omni.physx.tensors-107.3.26] startup +[5.462s] [ext: isaacsim.core.utils-3.5.1] startup +[5.464s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.735s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.736s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.737s] [ext: omni.kit.window.stage-2.6.1] startup +[6.741s] [ext: omni.kit.menu.create-2.0.1] startup +[6.742s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.747s] [ext: omni.kit.scripting-107.3.2] startup +[6.751s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.753s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.754s] [ext: omni.graph.tools-1.79.2] startup +[6.772s] [ext: omni.ui_query-1.1.8] startup +[6.772s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.773s] [ext: omni.graph-1.141.2] startup +[6.808s] [ext: omni.graph.action_core-1.1.7] startup +[6.809s] [ext: omni.kit.ui_test-1.3.7] startup +[6.813s] [ext: omni.kit.browser.core-2.3.13] startup +[6.816s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.819s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.823s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.827s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.839s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.842s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.854s] [ext: omni.graph.action-1.130.0] startup +[6.857s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.861s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.869s] [ext: isaacsim.gui.components-1.2.1] startup +[6.878s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.888s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.031s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.035s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.040s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.097s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:38:18Z [7,076ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.103s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.104s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.108s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.113s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.115s] [ext: omni.graph.image.core-0.6.1] startup +[7.116s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.117s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.118s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.120s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.126s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.128s] [ext: omni.graph.nodes-1.170.10] startup +[7.136s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.139s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.143s] [ext: omni.syntheticdata-0.6.13] startup +[7.169s] [ext: omni.videoencoding-0.1.2] startup +[7.174s] [ext: omni.warp-1.8.2] startup +[7.181s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.206s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.209s] [ext: isaacsim.core.prims-0.6.1] startup +[7.246s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.253s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:38:18Z [7,408ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:38:18Z [7,408ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:38:18Z [7,409ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.436s] [ext: isaacsim.core.api-4.8.0] startup +[7.452s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.491s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.501s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.507s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.515s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.535s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.545s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.563s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.571s] [ext: omni.sensors.net-1.0.0] startup +[7.578s] [ext: isaacsim.app.about-2.0.11] startup +[7.583s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.584s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.587s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.598s] [ext: omni.kit.property.audio-1.0.16] startup +[7.610s] [ext: omni.kit.property.camera-1.0.10] startup +[7.619s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.636s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.657s] [ext: omni.kit.property.light-1.0.12] startup +[7.691s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.693s] [ext: omni.kit.selection-0.1.6] startup +[7.703s] [ext: omni.kit.property.material-1.11.9] startup +[7.743s] [ext: omni.kit.property.transform-1.5.13] startup +[7.807s] [ext: omni.kit.property.render-1.2.1] startup +[7.818s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.821s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.880s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.934s] [ext: isaacsim.gui.property-1.1.3] startup +[7.951s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.980s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.012s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.050s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.113s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.122s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.130s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.136s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.138s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.148s] [ext: omni.kit.window.console-1.1.4] startup +[8.156s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.165s] [ext: omni.ocio-0.1.1] startup +[8.167s] [ext: omni.physx.demos-107.3.26] startup +[8.206s] [ext: omni.kit.property.physx-107.3.26] startup +[8.234s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.242s] [ext: omni.asset_validator.core-1.1.6] startup +[8.308s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.312s] [ext: omni.physx.vehicle-107.3.26] startup +[8.329s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.345s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.348s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.353s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.366s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.371s] [ext: omni.physx.camera-107.3.26] startup +[8.382s] [ext: omni.anim.curve.core-1.3.1] startup +[8.396s] [ext: omni.physx.cct-107.3.26] startup +[8.420s] [ext: omni.physx.graph-107.3.26] startup +[8.453s] [ext: omni.physx.supportui-107.3.26] startup +[8.487s] [ext: omni.physx.telemetry-107.3.26] startup +[8.490s] [ext: isaaclab-0.54.3] startup +[8.695s] [ext: isaaclab_contrib-0.0.2] startup +[8.696s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.698s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.701s] [ext: semantics.schema.property-2.0.1] startup +[8.703s] [ext: omni.physx.bundle-107.3.26] startup +[8.704s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.709s] [ext: isaaclab_assets-0.2.4] startup +[8.981s] [ext: isaaclab_tasks-0.11.14] startup +[9.137s] [ext: omni.kit.menu.common-2.0.1] startup +[9.139s] [ext: isaaclab_rl-0.5.0] startup +[9.141s] [ext: isaaclab_mimic-1.0.16] startup +[9.142s] [ext: isaaclab.python-2.3.2] startup +[9.145s] Simulation App Starting +2026-07-24T14:38:20Z [9,189ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:38:20Z [9,193ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:38:20Z [9,193ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:38:20Z [9,193ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:38:20Z [9,216ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.271s] app ready +[12.551s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-38-39.log +====================================================================================================== + +22:38:39 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 12 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:38:40Z [28,778ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:38:40Z [28,907ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:38:40Z [28,920ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:38:40Z [28,929ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.605862 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:38:40Z [28,942ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [28,948ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [29,326ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [29,326ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [29,330ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [29,330ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [29,331ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +2026-07-24T14:38:40Z [29,331ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b6f29db150:World0.usd@ <0x55b6ff234e80>) + +[INFO]: Time taken for simulation start : 0.640747 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:38:50Z [38,997ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:38:52Z [41,643ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:38:52Z [41,643ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:38:52Z [41,643ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:38:52Z [41,643ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:39:01Z [50,437ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=12 variant=48 rng_seed=212048 piece_order=[2, 3, 0, 1, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece2 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=1 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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647 / 1100 env0 step: 648 / 1100 env0 step: 649 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 3, 5] +[curobo-ttt] semantic move=4/5 piece=player_piece1 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=0 +env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 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env0 step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[3] +[curobo-ttt] semantic move=5/5 piece=player_piece4 grasp=right_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=971 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-38-09_semantic-w03-s0005-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0005-a000,split=all,layout=12,variant=48,behavior=38/2026-07-24_22-38-09_semantic-w03-s0005-a000/episode_0000000_cam_head_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0005-a000,split=all,layout=12,variant=48,behavior=38/2026-07-24_22-38-09_semantic-w03-s0005-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0005-a000,split=all,layout=12,variant=48,behavior=38/2026-07-24_22-38-09_semantic-w03-s0005-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w03-s0005-a000,split=all,layout=12,variant=48,behavior=38/_resume_2026-07-24_22-38-09_semantic-w03-s0005-a000.json (eval completed) +2026-07-24T14:42:27Z [256,617ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:27Z [256,617ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[256.956s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-38-09_semantic-w05-s0005-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-38-09_semantic-w05-s0005-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..15ff22156aedfd58155d01fd7dd47769212baddf --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-38-09_semantic-w05-s0005-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-38-09_semantic-w05-s0005-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_223811.log +[0.054s] [ext: omni.kit.async_engine-0.0.3] startup +[0.176s] [ext: omni.metrics.core-0.0.3] startup +[0.176s] [ext: omni.client.lib-1.1.0] startup +[0.189s] [ext: omni.blobkey-1.1.2] startup +[0.189s] [ext: omni.stats-1.0.1] startup +[0.190s] [ext: omni.datastore-0.0.0] startup +[0.195s] [ext: omni.client-1.3.0] startup +[0.200s] [ext: omni.ujitso.default-1.0.0] startup +[0.201s] [ext: omni.hsscclient-1.1.2] startup +[0.224s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.226s] [ext: omni.assets.plugins-0.0.0] startup +[0.227s] [ext: omni.gpu_foundation-0.0.0] startup +[0.234s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:38:11Z [213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:11Z [213ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.234s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:38:11Z [257ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:38:11Z [261ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:38:11Z [261ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:38:11Z [261ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:38:11Z [295ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:38:13Z [2,560ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,560ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,563ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,563ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,564ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,564ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,568ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,568ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,570ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:38:13Z [2,573ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 540091 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.639s] [ext: omni.materialx.libs-1.0.7] startup +[3.646s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.647s] [ext: omni.kit.test-2.0.1] startup +[3.686s] [ext: omni.kit.pipapi-0.0.0] startup +[3.686s] [ext: omni.usd.config-1.0.6] startup +[3.689s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.690s] [ext: omni.usd.libs-1.0.1] startup +[3.764s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.765s] [ext: omni.mdl-56.0.3] startup +[3.846s] [ext: omni.iray.libs-0.0.0] startup +[3.853s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.857s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.967s] [ext: omni.kit.telemetry-0.5.2] startup +[4.005s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:38:15Z [3,985ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [3,985ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.009s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:38:15Z [4,018ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,018ms] [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) +2026-07-24T14:38:15Z [4,026ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,026ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.049s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.051s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:38:15Z [4,033ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,033ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:38:15Z [4,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,034ms] [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) +2026-07-24T14:38:15Z [4,035ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:38:15Z [4,035ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.125s] [ext: omni.ui-2.27.1] startup +[4.135s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.136s] [ext: carb.audio-0.1.0] startup +[4.161s] [ext: omni.uiaudio-1.0.0] startup +[4.162s] [ext: omni.kit.uiapp-0.0.0] startup +[4.162s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.164s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.169s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.171s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.174s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.176s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.193s] [ext: omni.usd_resolver-1.0.0] startup +[4.196s] [ext: omni.usd.core-1.5.3] startup +[4.198s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.218s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.225s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.253s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.254s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.254s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.258s] [ext: omni.graph.exec-0.9.6] startup +[4.258s] [ext: omni.kit.actions.core-1.0.0] startup +[4.260s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.260s] [ext: omni.kit.exec.core-0.13.4] startup +[4.262s] [ext: omni.kit.commands-1.4.10] startup +[4.265s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.268s] [ext: omni.activity.core-1.0.3] startup +[4.269s] [ext: omni.resourcemonitor-107.0.1] startup +[4.270s] [ext: omni.timeline-1.0.14] startup +[4.272s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.274s] [ext: usdrt.scenegraph-7.6.1] startup +[4.304s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.306s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.311s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.315s] [ext: omni.usd-1.13.10] startup +[4.336s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.347s] [ext: omni.index.libs-380600.8087.0] startup +[4.347s] [ext: omni.volume-0.5.2] startup +[4.350s] [ext: omni.ujitso.client-0.0.0] startup +[4.350s] [ext: omni.index-1.0.1] startup +[4.350s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.351s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:38:15Z [4,346ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.380s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.381s] [ext: omni.kit.clipboard-1.0.5] startup +[4.382s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.384s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.715s] [ext: omni.kit.menu.core-1.1.2] startup +[4.716s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.720s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.722s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.723s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.724s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.725s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.729s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.730s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.738s] [ext: omni.ui.scene-1.11.5] startup +[4.743s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.743s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.756s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.762s] [ext: omni.kit.context_menu-1.8.6] startup +[4.763s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.767s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.770s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.771s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.772s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.772s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.776s] [ext: omni.kit.material.library-2.0.7] startup +[4.780s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.782s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.783s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.796s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.800s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.804s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.804s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.808s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.811s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.812s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.814s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.815s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.816s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.816s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.822s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.824s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.825s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.826s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.827s] [ext: omni.fabric.commands-1.1.6] startup +[4.829s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.830s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.831s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.832s] [ext: omni.debugdraw-0.1.4] startup +[4.835s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.844s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.844s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.844s] [ext: omni.kvdb-107.3.26] startup +[4.846s] [ext: omni.convexdecomposition-107.3.26] startup +[4.848s] [ext: omni.physx.foundation-107.3.26] startup +[4.849s] [ext: omni.localcache-107.3.26] startup +[4.850s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.851s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.851s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.852s] [ext: omni.usdphysics-107.3.26] startup +[4.854s] [ext: omni.kit.window.file-2.0.5] startup +[4.856s] [ext: omni.physx.cooking-107.3.26] startup +[4.858s] [ext: omni.physics-107.3.26] startup +[4.861s] [ext: omni.kit.window.property-1.12.1] startup +[4.863s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.873s] [ext: omni.physx-107.3.26] startup +[4.881s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.883s] [ext: omni.kit.property.usd-4.5.12] startup +[4.891s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.892s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:38:16Z [4,872ms] [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. +[4.894s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.894s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.905s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.909s] [ext: omni.inspect-1.0.2] startup +[4.910s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.920s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.921s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.926s] [ext: omni.graph.core-2.184.5] startup +[4.929s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.930s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.953s] [ext: omni.physx.commands-107.3.26] startup +[4.957s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.958s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:38:16Z [4,941ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.963s] [ext: omni.physx.ui-107.3.26] startup +[4.989s] [ext: isaacsim.core.version-2.0.6] startup +[4.990s] [ext: omni.physics.tensors-107.3.26] startup +[4.994s] [ext: omni.warp.core-1.8.2] startup +[5.153s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.155s] [ext: isaacsim.storage.native-1.5.1] startup +[5.156s] [ext: omni.physx.tensors-107.3.26] startup +[5.166s] [ext: isaacsim.core.utils-3.5.1] startup +[5.169s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.396s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.396s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.398s] [ext: omni.kit.window.stage-2.6.1] startup +[6.401s] [ext: omni.kit.menu.create-2.0.1] startup +[6.402s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.407s] [ext: omni.kit.scripting-107.3.2] startup +[6.410s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.413s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.413s] [ext: omni.graph.tools-1.79.2] startup +[6.431s] [ext: omni.ui_query-1.1.8] startup +[6.432s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.432s] [ext: omni.graph-1.141.2] startup +[6.466s] [ext: omni.graph.action_core-1.1.7] startup +[6.468s] [ext: omni.kit.ui_test-1.3.7] startup +[6.470s] [ext: omni.kit.browser.core-2.3.13] startup +[6.474s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.477s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.480s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.484s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.496s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.499s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.509s] [ext: omni.graph.action-1.130.0] startup +[6.512s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.515s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.524s] [ext: isaacsim.gui.components-1.2.1] startup +[6.530s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.539s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.617s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.621s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.625s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[6.688s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:38:17Z [6,677ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.702s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.702s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.705s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.710s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.713s] [ext: omni.graph.image.core-0.6.1] startup +[6.714s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.715s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.717s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.719s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.721s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.723s] [ext: omni.graph.nodes-1.170.10] startup +[6.732s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.736s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.740s] [ext: omni.syntheticdata-0.6.13] startup +[6.767s] [ext: omni.videoencoding-0.1.2] startup +[6.770s] [ext: omni.warp-1.8.2] startup +[6.776s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.798s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.802s] [ext: isaacsim.core.prims-0.6.1] startup +[6.836s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.846s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:38:18Z [7,021ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:38:18Z [7,021ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:38:18Z [7,026ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.060s] [ext: isaacsim.core.api-4.8.0] startup +[7.177s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.262s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.274s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.281s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.287s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.309s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.343s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.369s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.383s] [ext: omni.sensors.net-1.0.0] startup +[7.391s] [ext: isaacsim.app.about-2.0.11] startup +[7.399s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.404s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.433s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.445s] [ext: omni.kit.property.audio-1.0.16] startup +[7.459s] [ext: omni.kit.property.camera-1.0.10] startup +[7.464s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.478s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.490s] [ext: omni.kit.property.light-1.0.12] startup +[7.537s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.539s] [ext: omni.kit.selection-0.1.6] startup +[7.558s] [ext: omni.kit.property.material-1.11.9] startup +[7.628s] [ext: omni.kit.property.transform-1.5.13] startup +[7.654s] [ext: omni.kit.property.render-1.2.1] startup +[7.668s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.672s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.750s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.771s] [ext: isaacsim.gui.property-1.1.3] startup +[7.776s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.778s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.792s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.807s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.820s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.825s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.839s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.851s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.858s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.866s] [ext: omni.kit.window.console-1.1.4] startup +[7.881s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.890s] [ext: omni.ocio-0.1.1] startup +[7.896s] [ext: omni.physx.demos-107.3.26] startup +[7.925s] [ext: omni.kit.property.physx-107.3.26] startup +[7.949s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.954s] [ext: omni.asset_validator.core-1.1.6] startup +[8.003s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.010s] [ext: omni.physx.vehicle-107.3.26] startup +[8.029s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.042s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.048s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.053s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.060s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.068s] [ext: omni.physx.camera-107.3.26] startup +[8.078s] [ext: omni.anim.curve.core-1.3.1] startup +[8.094s] [ext: omni.physx.cct-107.3.26] startup +[8.109s] [ext: omni.physx.graph-107.3.26] startup +[8.126s] [ext: omni.physx.supportui-107.3.26] startup +[8.151s] [ext: omni.physx.telemetry-107.3.26] startup +[8.154s] [ext: isaaclab-0.54.3] startup +[8.415s] [ext: isaaclab_contrib-0.0.2] startup +[8.416s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.418s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.420s] [ext: semantics.schema.property-2.0.1] startup +[8.421s] [ext: omni.physx.bundle-107.3.26] startup +[8.423s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.427s] [ext: isaaclab_assets-0.2.4] startup +[8.706s] [ext: isaaclab_tasks-0.11.14] startup +[8.863s] [ext: omni.kit.menu.common-2.0.1] startup +[8.865s] [ext: isaaclab_rl-0.5.0] startup +[8.868s] [ext: isaaclab_mimic-1.0.16] startup +[8.870s] [ext: isaaclab.python-2.3.2] startup +[8.872s] Simulation App Starting +2026-07-24T14:38:20Z [8,936ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:38:20Z [8,941ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:38:20Z [8,941ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:38:20Z [8,941ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:38:20Z [8,966ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T14:38:20Z [8,992ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T14:38:20Z [8,992ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T14:38:20Z [8,992ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[9.026s] app ready +[12.214s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-38-39.log +====================================================================================================== + +22:38:39 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 13 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:38:40Z [28,759ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:38:40Z [28,881ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:38:40Z [28,893ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:38:40Z [28,902ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.607761 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:38:40Z [28,915ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [28,920ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [29,301ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [29,302ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [29,304ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [29,305ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [29,305ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +2026-07-24T14:38:40Z [29,306ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585eda4cee0:World0.usd@ <0x5585fa230170>) + +[INFO]: Time taken for simulation start : 0.635264 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:38:52Z [41,151ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:39:00Z [48,943ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:39:00Z [48,944ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:39:00Z [48,944ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:39:00Z [48,944ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:39:07Z [55,765ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=13 variant=50 rng_seed=113050 piece_order=[3, 0, 2, 1, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 216 / 1100 env0 step: 217 / 1100 env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 [curobo-ttt] opponent=1/4 complete placed=2 empty=[0, 1, 3, 4, 6, 7, 8] +[curobo-ttt] semantic move=2/5 piece=player_piece0 grasp=left_side arm=left target=cell_7 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=7 +env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 / 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+[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 468 / 1100 env0 step: 469 / 1100 env0 step: 470 / 1100 env0 step: 471 / 1100 env0 step: 472 / 1100 env0 step: 473 / 1100 env0 step: 474 / 1100 env0 step: 475 / 1100 env0 step: 476 / 1100 env0 step: 477 / 1100 env0 step: 478 / 1100 env0 step: 479 / 1100 env0 step: 480 / 1100 env0 step: 481 / 1100 env0 step: 482 / 1100 env0 step: 483 / 1100 env0 step: 484 / 1100 env0 step: 485 / 1100 env0 step: 486 / 1100 env0 step: 487 / 1100 env0 step: 488 / 1100 env0 step: 489 / 1100 env0 step: 490 / 1100 env0 step: 491 / 1100 env0 step: 492 / 1100 env0 step: 493 / 1100 env0 step: 494 / 1100 env0 step: 495 / 1100 env0 step: 496 / 1100 env0 step: 497 / 1100 env0 step: 498 / 1100 env0 step: 499 / 1100 env0 step: 500 / 1100 env0 step: 501 / 1100 env0 step: 502 / 1100 env0 step: 503 / 1100 env0 step: 504 / 1100 env0 step: 505 / 1100 env0 step: 506 / 1100 env0 step: 507 / 1100 env0 step: 508 / 1100 env0 step: 509 / 1100 env0 step: 510 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env0 step: 647 / 1100 env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 step: 681 / 1100 env0 step: 682 / 1100 env0 step: 683 / 1100 env0 step: 684 / 1100 env0 step: 685 / 1100 env0 step: 686 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 1, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece1 grasp=far_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=8 +env0 step: 687 / 1100 env0 step: 688 / 1100 env0 step: 689 / 1100 env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 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env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece4 grasp=right_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=1 +env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 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env0 step: 1032 / 1100 env0 step: 1033 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1033 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-38-09_semantic-w05-s0005-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0005-a000,split=all,layout=13,variant=50,behavior=40/2026-07-24_22-38-09_semantic-w05-s0005-a000/episode_0000000_cam_head_success.mp4`, containing 208 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0005-a000,split=all,layout=13,variant=50,behavior=40/2026-07-24_22-38-09_semantic-w05-s0005-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 208 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0005-a000,split=all,layout=13,variant=50,behavior=40/2026-07-24_22-38-09_semantic-w05-s0005-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 208 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0005-a000,split=all,layout=13,variant=50,behavior=40/_resume_2026-07-24_22-38-09_semantic-w05-s0005-a000.json (eval completed) +2026-07-24T14:42:52Z [281,092ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:52Z [281,092ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[281.446s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-42-31_semantic-w06-s0006-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-42-31_semantic-w06-s0006-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..4d7a83f32379ab3a1099bb9aa7472f6d8610403e --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-24_22-42-31_semantic-w06-s0006-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-24_22-42-31_semantic-w06-s0006-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260724_224233.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.169s] [ext: omni.metrics.core-0.0.3] startup +[0.169s] [ext: omni.client.lib-1.1.0] startup +[0.182s] [ext: omni.blobkey-1.1.2] startup +[0.182s] [ext: omni.stats-1.0.1] startup +[0.183s] [ext: omni.datastore-0.0.0] startup +[0.188s] [ext: omni.client-1.3.0] startup +[0.193s] [ext: omni.ujitso.default-1.0.0] startup +[0.194s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.219s] [ext: omni.assets.plugins-0.0.0] startup +[0.220s] [ext: omni.gpu_foundation-0.0.0] startup +[0.227s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T14:42:33Z [207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:33Z [207ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.227s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T14:42:33Z [279ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T14:42:33Z [286ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T14:42:33Z [286ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T14:42:33Z [286ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T14:42:33Z [384ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T14:42:35Z [2,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T14:42:35Z [2,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 528875 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.683s] [ext: omni.materialx.libs-1.0.7] startup +[2.691s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.692s] [ext: omni.kit.test-2.0.1] startup +[2.731s] [ext: omni.kit.pipapi-0.0.0] startup +[2.732s] [ext: omni.usd.config-1.0.6] startup +[2.735s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.735s] [ext: omni.usd.libs-1.0.1] startup +[2.810s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.810s] [ext: omni.mdl-56.0.3] startup +[2.870s] [ext: omni.iray.libs-0.0.0] startup +[2.876s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.878s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.964s] [ext: omni.kit.telemetry-0.5.2] startup +[2.996s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T14:42:36Z [2,977ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:36Z [2,977ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.999s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T14:42:36Z [2,992ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:36Z [2,992ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T14:42:36Z [3,000ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:36Z [3,000ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.021s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.023s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T14:42:36Z [3,006ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:36Z [3,006ms] [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) +2026-07-24T14:42:36Z [3,007ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:36Z [3,007ms] [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) +2026-07-24T14:42:36Z [3,008ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:42:36Z [3,008ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.118s] [ext: omni.ui-2.27.1] startup +[3.126s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.127s] [ext: carb.audio-0.1.0] startup +[3.151s] [ext: omni.uiaudio-1.0.0] startup +[3.152s] [ext: omni.kit.uiapp-0.0.0] startup +[3.152s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.154s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.164s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.167s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.171s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.174s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.197s] [ext: omni.usd_resolver-1.0.0] startup +[3.201s] [ext: omni.usd.core-1.5.3] startup +[3.204s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.224s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.235s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.270s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.271s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.272s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.275s] [ext: omni.graph.exec-0.9.6] startup +[3.276s] [ext: omni.kit.actions.core-1.0.0] startup +[3.278s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.279s] [ext: omni.kit.exec.core-0.13.4] startup +[3.280s] [ext: omni.kit.commands-1.4.10] startup +[3.283s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.287s] [ext: omni.activity.core-1.0.3] startup +[3.288s] [ext: omni.resourcemonitor-107.0.1] startup +[3.290s] [ext: omni.timeline-1.0.14] startup +[3.291s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.293s] [ext: usdrt.scenegraph-7.6.1] startup +[3.324s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.325s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.331s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.335s] [ext: omni.usd-1.13.10] startup +[3.356s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.366s] [ext: omni.index.libs-380600.8087.0] startup +[3.366s] [ext: omni.volume-0.5.2] startup +[3.368s] [ext: omni.ujitso.client-0.0.0] startup +[3.368s] [ext: omni.index-1.0.1] startup +[3.369s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.370s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T14:42:36Z [3,365ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.397s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.399s] [ext: omni.kit.clipboard-1.0.5] startup +[3.400s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.402s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.406s] [ext: omni.kit.menu.core-1.1.2] startup +[3.406s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.409s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.410s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.411s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.411s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.412s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.416s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.417s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.423s] [ext: omni.ui.scene-1.11.5] startup +[3.427s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.427s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.439s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.445s] [ext: omni.kit.context_menu-1.8.6] startup +[3.446s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.450s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.452s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.454s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.455s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.455s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.458s] [ext: omni.kit.material.library-2.0.7] startup +[3.462s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.464s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.466s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.478s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.482s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.486s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.487s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.490s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.493s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.494s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.495s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.497s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.497s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.498s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.503s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.506s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.506s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.508s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.509s] [ext: omni.fabric.commands-1.1.6] startup +[3.511s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.512s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.513s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.514s] [ext: omni.debugdraw-0.1.4] startup +[3.516s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.525s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.526s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.526s] [ext: omni.kvdb-107.3.26] startup +[3.527s] [ext: omni.convexdecomposition-107.3.26] startup +[3.529s] [ext: omni.physx.foundation-107.3.26] startup +[3.530s] [ext: omni.localcache-107.3.26] startup +[3.531s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.532s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.532s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.533s] [ext: omni.usdphysics-107.3.26] startup +[3.534s] [ext: omni.kit.window.file-2.0.5] startup +[3.537s] [ext: omni.physx.cooking-107.3.26] startup +[3.539s] [ext: omni.physics-107.3.26] startup +[3.542s] [ext: omni.kit.window.property-1.12.1] startup +[3.544s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.553s] [ext: omni.physx-107.3.26] startup +[3.561s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.563s] [ext: omni.kit.property.usd-4.5.12] startup +[3.571s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.572s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T14:42:36Z [3,553ms] [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. +[3.573s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.574s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.586s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.589s] [ext: omni.inspect-1.0.2] startup +[3.590s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.599s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.600s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.606s] [ext: omni.graph.core-2.184.5] startup +[3.608s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.609s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.631s] [ext: omni.physx.commands-107.3.26] startup +[3.635s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.636s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T14:42:36Z [3,620ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.640s] [ext: omni.physx.ui-107.3.26] startup +[3.667s] [ext: isaacsim.core.version-2.0.6] startup +[3.667s] [ext: omni.physics.tensors-107.3.26] startup +[3.671s] [ext: omni.warp.core-1.8.2] startup +[3.826s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.828s] [ext: isaacsim.storage.native-1.5.1] startup +[3.829s] [ext: omni.physx.tensors-107.3.26] startup +[3.879s] [ext: isaacsim.core.utils-3.5.1] startup +[3.881s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.149s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.152s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.153s] [ext: omni.kit.window.stage-2.6.1] startup +[5.157s] [ext: omni.kit.menu.create-2.0.1] startup +[5.158s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.164s] [ext: omni.kit.scripting-107.3.2] startup +[5.167s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.170s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.170s] [ext: omni.graph.tools-1.79.2] startup +[5.188s] [ext: omni.ui_query-1.1.8] startup +[5.189s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.190s] [ext: omni.graph-1.141.2] startup +[5.225s] [ext: omni.graph.action_core-1.1.7] startup +[5.226s] [ext: omni.kit.ui_test-1.3.7] startup +[5.230s] [ext: omni.kit.browser.core-2.3.13] startup +[5.234s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.237s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.240s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.243s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.256s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.260s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.271s] [ext: omni.graph.action-1.130.0] startup +[5.274s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.278s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.284s] [ext: isaacsim.gui.components-1.2.1] startup +[5.292s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.302s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.389s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.393s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.398s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.462s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T14:42:38Z [5,450ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.472s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.474s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.477s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.483s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.487s] [ext: omni.graph.image.core-0.6.1] startup +[5.489s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.491s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.493s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.498s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.502s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.505s] [ext: omni.graph.nodes-1.170.10] startup +[5.516s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.522s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.528s] [ext: omni.syntheticdata-0.6.13] startup +[5.559s] [ext: omni.videoencoding-0.1.2] startup +[5.564s] [ext: omni.warp-1.8.2] startup +[5.572s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.592s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.597s] [ext: isaacsim.core.prims-0.6.1] startup +[5.663s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.676s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T14:42:39Z [5,830ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T14:42:39Z [5,830ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T14:42:39Z [5,832ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.858s] [ext: isaacsim.core.api-4.8.0] startup +[5.884s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.948s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.965s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.972s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.980s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.995s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.004s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.017s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.028s] [ext: omni.sensors.net-1.0.0] startup +[6.037s] [ext: isaacsim.app.about-2.0.11] startup +[6.044s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.048s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.053s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.065s] [ext: omni.kit.property.audio-1.0.16] startup +[6.079s] [ext: omni.kit.property.camera-1.0.10] startup +[6.088s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.103s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.113s] [ext: omni.kit.property.light-1.0.12] startup +[6.160s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.164s] [ext: omni.kit.selection-0.1.6] startup +[6.175s] [ext: omni.kit.property.material-1.11.9] startup +[6.309s] [ext: omni.kit.property.transform-1.5.13] startup +[6.404s] [ext: omni.kit.property.render-1.2.1] startup +[6.461s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.490s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.693s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.735s] [ext: isaacsim.gui.property-1.1.3] startup +[6.750s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.757s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.787s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.806s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.848s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.872s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.882s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.891s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.896s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.917s] [ext: omni.kit.window.console-1.1.4] startup +[6.930s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.944s] [ext: omni.ocio-0.1.1] startup +[6.951s] [ext: omni.physx.demos-107.3.26] startup +[6.994s] [ext: omni.kit.property.physx-107.3.26] startup +[7.033s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.042s] [ext: omni.asset_validator.core-1.1.6] startup +[7.123s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.131s] [ext: omni.physx.vehicle-107.3.26] startup +[7.152s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.165s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.170s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.178s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.190s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.199s] [ext: omni.physx.camera-107.3.26] startup +[7.220s] [ext: omni.anim.curve.core-1.3.1] startup +[7.241s] [ext: omni.physx.cct-107.3.26] startup +[7.266s] [ext: omni.physx.graph-107.3.26] startup +[7.284s] [ext: omni.physx.supportui-107.3.26] startup +[7.308s] [ext: omni.physx.telemetry-107.3.26] startup +[7.314s] [ext: isaaclab-0.54.3] startup +[7.579s] [ext: isaaclab_contrib-0.0.2] startup +[7.581s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.583s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.588s] [ext: semantics.schema.property-2.0.1] startup +[7.592s] [ext: omni.physx.bundle-107.3.26] startup +[7.595s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.599s] [ext: isaaclab_assets-0.2.4] startup +[7.906s] [ext: isaaclab_tasks-0.11.14] startup +[8.062s] [ext: omni.kit.menu.common-2.0.1] startup +[8.065s] [ext: isaaclab_rl-0.5.0] startup +[8.066s] [ext: isaaclab_mimic-1.0.16] startup +[8.068s] [ext: isaaclab.python-2.3.2] startup +[8.072s] Simulation App Starting +2026-07-24T14:42:41Z [8,127ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T14:42:41Z [8,130ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T14:42:41Z [8,130ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T14:42:41Z [8,130ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T14:42:41Z [8,153ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.208s] app ready +[11.798s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-24_22-43-00.log +====================================================================================================== + +22:43:00 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 16 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T14:43:01Z [28,088ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T14:43:01Z [28,214ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:43:01Z [28,226ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T14:43:01Z [28,235ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.560659 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T14:43:01Z [28,247ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,253ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,641ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,641ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,645ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,645ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,646ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +2026-07-24T14:43:01Z [28,647ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f78f457450:World0.usd@ <0x55f79bc7fe40>) + +[INFO]: Time taken for simulation start : 0.648690 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T14:43:11Z [38,182ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T14:43:11Z [38,473ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:43:11Z [38,473ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:43:11Z [38,473ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:43:11Z [38,473ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T14:43:23Z [50,448ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=16 variant=58 rng_seed=16058 piece_order=[4, 3, 2, 0, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_4 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=4 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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move=4/5 piece=player_piece3 arm=right cell=7 +env0 step: 252 / 1100 env0 step: 253 / 1100 env0 step: 254 / 1100 env0 step: 255 / 1100 env0 step: 256 / 1100 env0 step: 257 / 1100 env0 step: 258 / 1100 env0 step: 259 / 1100 env0 step: 260 / 1100 env0 step: 261 / 1100 env0 step: 262 / 1100 env0 step: 263 / 1100 env0 step: 264 / 1100 env0 step: 265 / 1100 env0 step: 266 / 1100 env0 step: 267 / 1100 env0 step: 268 / 1100 env0 step: 269 / 1100 env0 step: 270 / 1100 env0 step: 271 / 1100 env0 step: 272 / 1100 env0 step: 273 / 1100 env0 step: 274 / 1100 env0 step: 275 / 1100 env0 step: 276 / 1100 env0 step: 277 / 1100 env0 step: 278 / 1100 env0 step: 279 / 1100 env0 step: 280 / 1100 env0 step: 281 / 1100 env0 step: 282 / 1100 env0 step: 283 / 1100 env0 step: 284 / 1100 env0 step: 285 / 1100 env0 step: 286 / 1100 env0 step: 287 / 1100 env0 step: 288 / 1100 env0 step: 289 / 1100 env0 step: 290 / 1100 env0 step: 291 / 1100 env0 step: 292 / 1100 env0 step: 293 / 1100 env0 step: 294 / 1100 env0 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env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 6, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece0 grasp=left_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=0 +env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 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env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[6] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=6 +env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1035 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-24_22-42-31_semantic-w06-s0006-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0006-a000,split=all,layout=16,variant=58,behavior=48/2026-07-24_22-42-31_semantic-w06-s0006-a000/episode_0000000_cam_head_success.mp4`, containing 208 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0006-a000,split=all,layout=16,variant=58,behavior=48/2026-07-24_22-42-31_semantic-w06-s0006-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 208 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0006-a000,split=all,layout=16,variant=58,behavior=48/2026-07-24_22-42-31_semantic-w06-s0006-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 208 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0006-a000,split=all,layout=16,variant=58,behavior=48/_resume_2026-07-24_22-42-31_semantic-w06-s0006-a000.json (eval completed) +2026-07-24T14:46:58Z [265,508ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T14:46:58Z [265,508ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[265.842s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-35-31_semantic-w02-s0045-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-35-31_semantic-w02-s0045-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..bdeb49aed2ec76c1aabea8c2820be6b8679ecf21 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-35-31_semantic-w02-s0045-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_01-35-31_semantic-w02-s0045-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_013532.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.172s] [ext: omni.metrics.core-0.0.3] startup +[0.172s] [ext: omni.client.lib-1.1.0] startup +[0.185s] [ext: omni.blobkey-1.1.2] startup +[0.186s] [ext: omni.stats-1.0.1] startup +[0.187s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.197s] [ext: omni.ujitso.default-1.0.0] startup +[0.198s] [ext: omni.hsscclient-1.1.2] startup +[0.232s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.233s] [ext: omni.assets.plugins-0.0.0] startup +[0.234s] [ext: omni.gpu_foundation-0.0.0] startup +[0.241s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T17:35:33Z [222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:33Z [222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.242s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T17:35:33Z [290ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T17:35:33Z [291ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T17:35:33Z [291ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T17:35:33Z [291ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T17:35:33Z [346ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T17:35:33Z [1,062ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,062ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,063ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,063ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,065ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,065ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,066ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,066ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,067ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,067ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:35:33Z [1,068ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 510737 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.921s] [ext: omni.materialx.libs-1.0.7] startup +[1.928s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.929s] [ext: omni.kit.test-2.0.1] startup +[1.966s] [ext: omni.kit.pipapi-0.0.0] startup +[1.967s] [ext: omni.usd.config-1.0.6] startup +[1.970s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.970s] [ext: omni.usd.libs-1.0.1] startup +[2.063s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.064s] [ext: omni.mdl-56.0.3] startup +[2.152s] [ext: omni.iray.libs-0.0.0] startup +[2.159s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.162s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.273s] [ext: omni.kit.telemetry-0.5.2] startup +[2.318s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T17:35:35Z [2,299ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:35Z [2,299ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.322s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T17:35:35Z [2,315ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:35Z [2,315ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:35:35Z [2,324ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:35Z [2,324ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.346s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.348s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T17:35:35Z [2,331ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:35Z [2,331ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:35:35Z [2,332ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:35Z [2,332ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:35:35Z [2,333ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:35:35Z [2,333ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.434s] [ext: omni.ui-2.27.1] startup +[2.443s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.444s] [ext: carb.audio-0.1.0] startup +[2.465s] [ext: omni.uiaudio-1.0.0] startup +[2.465s] [ext: omni.kit.uiapp-0.0.0] startup +[2.465s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.467s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.473s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.475s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.477s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.480s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.496s] [ext: omni.usd_resolver-1.0.0] startup +[2.499s] [ext: omni.usd.core-1.5.3] startup +[2.501s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.519s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.526s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.553s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.554s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.554s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.558s] [ext: omni.graph.exec-0.9.6] startup +[2.558s] [ext: omni.kit.actions.core-1.0.0] startup +[2.560s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.560s] [ext: omni.kit.exec.core-0.13.4] startup +[2.561s] [ext: omni.kit.commands-1.4.10] startup +[2.564s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.567s] [ext: omni.activity.core-1.0.3] startup +[2.568s] [ext: omni.resourcemonitor-107.0.1] startup +[2.570s] [ext: omni.timeline-1.0.14] startup +[2.571s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.573s] [ext: usdrt.scenegraph-7.6.1] startup +[2.602s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.604s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.609s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.612s] [ext: omni.usd-1.13.10] startup +[2.633s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.643s] [ext: omni.index.libs-380600.8087.0] startup +[2.643s] [ext: omni.volume-0.5.2] startup +[2.645s] [ext: omni.ujitso.client-0.0.0] startup +[2.645s] [ext: omni.index-1.0.1] startup +[2.645s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.646s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T17:35:35Z [2,641ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.674s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.676s] [ext: omni.kit.clipboard-1.0.5] startup +[2.676s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.678s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.726s] [ext: omni.kit.menu.core-1.1.2] startup +[2.726s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.729s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.730s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.731s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.731s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.732s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.736s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.737s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.743s] [ext: omni.ui.scene-1.11.5] startup +[2.746s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.747s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.758s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.764s] [ext: omni.kit.context_menu-1.8.6] startup +[2.766s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.769s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.772s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.774s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.774s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.775s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.778s] [ext: omni.kit.material.library-2.0.7] startup +[2.781s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.784s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.785s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.797s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.801s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.805s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.805s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.809s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.812s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.813s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.814s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.816s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.817s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.818s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.822s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.825s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.825s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.827s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.828s] [ext: omni.fabric.commands-1.1.6] startup +[2.830s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.830s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.831s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.832s] [ext: omni.debugdraw-0.1.4] startup +[2.835s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.844s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.844s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.844s] [ext: omni.kvdb-107.3.26] startup +[2.846s] [ext: omni.convexdecomposition-107.3.26] startup +[2.848s] [ext: omni.physx.foundation-107.3.26] startup +[2.849s] [ext: omni.localcache-107.3.26] startup +[2.850s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.851s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.851s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.852s] [ext: omni.usdphysics-107.3.26] startup +[2.853s] [ext: omni.kit.window.file-2.0.5] startup +[2.856s] [ext: omni.physx.cooking-107.3.26] startup +[2.858s] [ext: omni.physics-107.3.26] startup +[2.861s] [ext: omni.kit.window.property-1.12.1] startup +[2.863s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.872s] [ext: omni.physx-107.3.26] startup +[2.880s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.881s] [ext: omni.kit.property.usd-4.5.12] startup +[2.890s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.891s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T17:35:35Z [2,871ms] [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. +[2.892s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.892s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.903s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.906s] [ext: omni.inspect-1.0.2] startup +[2.907s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.916s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.917s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.923s] [ext: omni.graph.core-2.184.5] startup +[2.926s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.927s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.949s] [ext: omni.physx.commands-107.3.26] startup +[2.953s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.953s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T17:35:35Z [2,937ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.958s] [ext: omni.physx.ui-107.3.26] startup +[2.984s] [ext: isaacsim.core.version-2.0.6] startup +[2.984s] [ext: omni.physics.tensors-107.3.26] startup +[2.988s] [ext: omni.warp.core-1.8.2] startup +[3.145s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.146s] [ext: isaacsim.storage.native-1.5.1] startup +[3.148s] [ext: omni.physx.tensors-107.3.26] startup +[3.152s] [ext: isaacsim.core.utils-3.5.1] startup +[3.154s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.446s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.446s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.448s] [ext: omni.kit.window.stage-2.6.1] startup +[4.451s] [ext: omni.kit.menu.create-2.0.1] startup +[4.452s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.458s] [ext: omni.kit.scripting-107.3.2] startup +[4.461s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.464s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.465s] [ext: omni.graph.tools-1.79.2] startup +[4.483s] [ext: omni.ui_query-1.1.8] startup +[4.483s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.484s] [ext: omni.graph-1.141.2] startup +[4.518s] [ext: omni.graph.action_core-1.1.7] startup +[4.520s] [ext: omni.kit.ui_test-1.3.7] startup +[4.522s] [ext: omni.kit.browser.core-2.3.13] startup +[4.526s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.530s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.533s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.540s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.549s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.552s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.563s] [ext: omni.graph.action-1.130.0] startup +[4.565s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.570s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.577s] [ext: isaacsim.gui.components-1.2.1] startup +[4.585s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.590s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.685s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.700s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.719s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.811s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T17:35:37Z [4,797ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.820s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.823s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.826s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.833s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.837s] [ext: omni.graph.image.core-0.6.1] startup +[4.839s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.840s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.842s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.846s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.849s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.851s] [ext: omni.graph.nodes-1.170.10] startup +[4.861s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.866s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.872s] [ext: omni.syntheticdata-0.6.13] startup +[4.913s] [ext: omni.videoencoding-0.1.2] startup +[4.918s] [ext: omni.warp-1.8.2] startup +[4.936s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.969s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.979s] [ext: isaacsim.core.prims-0.6.1] startup +[5.070s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.094s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T17:35:38Z [5,467ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T17:35:38Z [5,467ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T17:35:38Z [5,468ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.494s] [ext: isaacsim.core.api-4.8.0] startup +[5.536s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.609s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.627s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.641s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.654s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.678s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.719s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.755s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.777s] [ext: omni.sensors.net-1.0.0] startup +[5.791s] [ext: isaacsim.app.about-2.0.11] startup +[5.800s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.802s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.814s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.876s] [ext: omni.kit.property.audio-1.0.16] startup +[5.902s] [ext: omni.kit.property.camera-1.0.10] startup +[5.913s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.951s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.985s] [ext: omni.kit.property.light-1.0.12] startup +[6.051s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.059s] [ext: omni.kit.selection-0.1.6] startup +[6.066s] [ext: omni.kit.property.material-1.11.9] startup +[6.174s] [ext: omni.kit.property.transform-1.5.13] startup +[6.297s] [ext: omni.kit.property.render-1.2.1] startup +[6.351s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.380s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.712s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.859s] [ext: isaacsim.gui.property-1.1.3] startup +[6.877s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.891s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.925s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.957s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.011s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.032s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.058s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.067s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.072s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.099s] [ext: omni.kit.window.console-1.1.4] startup +[7.110s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.125s] [ext: omni.ocio-0.1.1] startup +[7.133s] [ext: omni.physx.demos-107.3.26] startup +[7.182s] [ext: omni.kit.property.physx-107.3.26] startup +[7.224s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.235s] [ext: omni.asset_validator.core-1.1.6] startup +[7.335s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.344s] [ext: omni.physx.vehicle-107.3.26] startup +[7.374s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.395s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.402s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.410s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.425s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.433s] [ext: omni.physx.camera-107.3.26] startup +[7.448s] [ext: omni.anim.curve.core-1.3.1] startup +[7.469s] [ext: omni.physx.cct-107.3.26] startup +[7.483s] [ext: omni.physx.graph-107.3.26] startup +[7.502s] [ext: omni.physx.supportui-107.3.26] startup +[7.524s] [ext: omni.physx.telemetry-107.3.26] startup +[7.534s] [ext: isaaclab-0.54.3] startup +[7.925s] [ext: isaaclab_contrib-0.0.2] startup +[7.932s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.935s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.942s] [ext: semantics.schema.property-2.0.1] startup +[7.947s] [ext: omni.physx.bundle-107.3.26] startup +[7.951s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.959s] [ext: isaaclab_assets-0.2.4] startup +[8.307s] [ext: isaaclab_tasks-0.11.14] startup +[8.461s] [ext: omni.kit.menu.common-2.0.1] startup +[8.462s] [ext: isaaclab_rl-0.5.0] startup +[8.465s] [ext: isaaclab_mimic-1.0.16] startup +[8.467s] [ext: isaaclab.python-2.3.2] startup +[8.471s] Simulation App Starting +2026-07-24T17:35:41Z [8,526ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T17:35:41Z [8,526ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T17:35:41Z [8,526ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T17:35:41Z [8,550ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.598s] app ready +[12.663s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_01-36-00.log +====================================================================================================== + +01:36:00 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 30 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T17:36:01Z [28,248ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T17:36:01Z [28,374ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:36:01Z [28,387ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:36:01Z [28,396ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.620107 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T17:36:01Z [28,408ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,414ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,791ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,792ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,795ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,796ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,796ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +2026-07-24T17:36:01Z [28,797ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55a1bd7423b0:World0.usd@ <0x55a1c9f92910>) + +[INFO]: Time taken for simulation start : 0.634017 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T17:36:10Z [37,769ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T17:36:11Z [38,263ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:36:11Z [38,263ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:36:11Z [38,263ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:36:11Z [38,263ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:36:22Z [49,445ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=30 variant=327 rng_seed=230327 piece_order=[2, 0, 3, 1, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece2 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=1 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=0 +env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 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step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1009 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_01-35-31_semantic-w02-s0045-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0045-a000,split=all,layout=30,variant=327,behavior=317/2026-07-25_01-35-31_semantic-w02-s0045-a000/episode_0000000_cam_head_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0045-a000,split=all,layout=30,variant=327,behavior=317/2026-07-25_01-35-31_semantic-w02-s0045-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0045-a000,split=all,layout=30,variant=327,behavior=317/2026-07-25_01-35-31_semantic-w02-s0045-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w02-s0045-a000,split=all,layout=30,variant=327,behavior=317/_resume_2026-07-25_01-35-31_semantic-w02-s0045-a000.json (eval completed) +2026-07-24T17:39:59Z [266,721ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:39:59Z [266,721ms] [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) +[267.053s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-46-13_semantic-w06-s0047-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-46-13_semantic-w06-s0047-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..c8ce5c34f70c8e972743734fda1da020dd734f4a --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-46-13_semantic-w06-s0047-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_01-46-13_semantic-w06-s0047-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_014616.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.167s] [ext: omni.metrics.core-0.0.3] startup +[0.168s] [ext: omni.client.lib-1.1.0] startup +[0.180s] [ext: omni.blobkey-1.1.2] startup +[0.181s] [ext: omni.stats-1.0.1] startup +[0.181s] [ext: omni.datastore-0.0.0] startup +[0.186s] [ext: omni.client-1.3.0] startup +[0.191s] [ext: omni.ujitso.default-1.0.0] startup +[0.193s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.218s] [ext: omni.assets.plugins-0.0.0] startup +[0.219s] [ext: omni.gpu_foundation-0.0.0] startup +[0.226s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T17:46:16Z [207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:16Z [207ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.227s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T17:46:16Z [272ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T17:46:16Z [273ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T17:46:16Z [273ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T17:46:16Z [273ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T17:46:16Z [310ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T17:46:18Z [1,695ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,695ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,698ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,698ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,699ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,699ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,701ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,701ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,704ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,704ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,705ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,705ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:46:18Z [1,706ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 517422 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.415s] [ext: omni.materialx.libs-1.0.7] startup +[2.425s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.426s] [ext: omni.kit.test-2.0.1] startup +[2.465s] [ext: omni.kit.pipapi-0.0.0] startup +[2.465s] [ext: omni.usd.config-1.0.6] startup +[2.469s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.469s] [ext: omni.usd.libs-1.0.1] startup +[2.545s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.545s] [ext: omni.mdl-56.0.3] startup +[2.602s] [ext: omni.iray.libs-0.0.0] startup +[2.608s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.610s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.697s] [ext: omni.kit.telemetry-0.5.2] startup +[2.733s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T17:46:19Z [2,714ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:19Z [2,714ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.736s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T17:46:19Z [2,731ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:19Z [2,731ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:46:19Z [2,739ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:19Z [2,739ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.761s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.763s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T17:46:19Z [2,745ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:19Z [2,745ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:46:19Z [2,747ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:19Z [2,747ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:46:19Z [2,747ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:46:19Z [2,747ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.877s] [ext: omni.ui-2.27.1] startup +[2.886s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.887s] [ext: carb.audio-0.1.0] startup +[2.911s] [ext: omni.uiaudio-1.0.0] startup +[2.912s] [ext: omni.kit.uiapp-0.0.0] startup +[2.912s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.914s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.919s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.921s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.923s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.926s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.942s] [ext: omni.usd_resolver-1.0.0] startup +[2.945s] [ext: omni.usd.core-1.5.3] startup +[2.947s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.965s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.971s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.001s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.001s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.002s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.005s] [ext: omni.graph.exec-0.9.6] startup +[3.006s] [ext: omni.kit.actions.core-1.0.0] startup +[3.007s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.008s] [ext: omni.kit.exec.core-0.13.4] startup +[3.009s] [ext: omni.kit.commands-1.4.10] startup +[3.012s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.015s] [ext: omni.activity.core-1.0.3] startup +[3.016s] [ext: omni.resourcemonitor-107.0.1] startup +[3.017s] [ext: omni.timeline-1.0.14] startup +[3.019s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.020s] [ext: usdrt.scenegraph-7.6.1] startup +[3.051s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.052s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.058s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.062s] [ext: omni.usd-1.13.10] startup +[3.082s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.093s] [ext: omni.index.libs-380600.8087.0] startup +[3.093s] [ext: omni.volume-0.5.2] startup +[3.095s] [ext: omni.ujitso.client-0.0.0] startup +[3.095s] [ext: omni.index-1.0.1] startup +[3.096s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.096s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T17:46:19Z [3,093ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.126s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.127s] [ext: omni.kit.clipboard-1.0.5] startup +[3.128s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.130s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.134s] [ext: omni.kit.menu.core-1.1.2] startup +[3.134s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.137s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.138s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.138s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.139s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.140s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.144s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.144s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.151s] [ext: omni.ui.scene-1.11.5] startup +[3.154s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.154s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.166s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.172s] [ext: omni.kit.context_menu-1.8.6] startup +[3.173s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.177s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.179s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.181s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.182s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.182s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.185s] [ext: omni.kit.material.library-2.0.7] startup +[3.189s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.191s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.192s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.204s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.208s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.212s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.212s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.216s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.219s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.220s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.221s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.222s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.223s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.224s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.230s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.233s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.234s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.235s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.237s] [ext: omni.fabric.commands-1.1.6] startup +[3.239s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.240s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.241s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.242s] [ext: omni.debugdraw-0.1.4] startup +[3.245s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.254s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.255s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.255s] [ext: omni.kvdb-107.3.26] startup +[3.256s] [ext: omni.convexdecomposition-107.3.26] startup +[3.258s] [ext: omni.physx.foundation-107.3.26] startup +[3.259s] [ext: omni.localcache-107.3.26] startup +[3.261s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.261s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.262s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.262s] [ext: omni.usdphysics-107.3.26] startup +[3.264s] [ext: omni.kit.window.file-2.0.5] startup +[3.266s] [ext: omni.physx.cooking-107.3.26] startup +[3.269s] [ext: omni.physics-107.3.26] startup +[3.271s] [ext: omni.kit.window.property-1.12.1] startup +[3.274s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.283s] [ext: omni.physx-107.3.26] startup +[3.291s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.293s] [ext: omni.kit.property.usd-4.5.12] startup +[3.302s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.303s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T17:46:19Z [3,284ms] [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. +[3.304s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.305s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.316s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.319s] [ext: omni.inspect-1.0.2] startup +[3.320s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.329s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.330s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.335s] [ext: omni.graph.core-2.184.5] startup +[3.338s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.339s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.361s] [ext: omni.physx.commands-107.3.26] startup +[3.365s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.366s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T17:46:19Z [3,350ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.370s] [ext: omni.physx.ui-107.3.26] startup +[3.396s] [ext: isaacsim.core.version-2.0.6] startup +[3.396s] [ext: omni.physics.tensors-107.3.26] startup +[3.400s] [ext: omni.warp.core-1.8.2] startup +[3.560s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.561s] [ext: isaacsim.storage.native-1.5.1] startup +[3.563s] [ext: omni.physx.tensors-107.3.26] startup +[3.567s] [ext: isaacsim.core.utils-3.5.1] startup +[3.569s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.817s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.818s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.820s] [ext: omni.kit.window.stage-2.6.1] startup +[4.827s] [ext: omni.kit.menu.create-2.0.1] startup +[4.828s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.834s] [ext: omni.kit.scripting-107.3.2] startup +[4.838s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.841s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.842s] [ext: omni.graph.tools-1.79.2] startup +[4.861s] [ext: omni.ui_query-1.1.8] startup +[4.862s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.862s] [ext: omni.graph-1.141.2] startup +[4.904s] [ext: omni.graph.action_core-1.1.7] startup +[4.905s] [ext: omni.kit.ui_test-1.3.7] startup +[4.909s] [ext: omni.kit.browser.core-2.3.13] startup +[4.912s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.916s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.920s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.923s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.934s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.940s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.953s] [ext: omni.graph.action-1.130.0] startup +[4.955s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.964s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.975s] [ext: isaacsim.gui.components-1.2.1] startup +[4.985s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.993s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.137s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.145s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.152s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.251s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T17:46:21Z [5,239ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.261s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.264s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.267s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.274s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.279s] [ext: omni.graph.image.core-0.6.1] startup +[5.281s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.282s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.285s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.289s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.292s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.295s] [ext: omni.graph.nodes-1.170.10] startup +[5.306s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.312s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.318s] [ext: omni.syntheticdata-0.6.13] startup +[5.356s] [ext: omni.videoencoding-0.1.2] startup +[5.362s] [ext: omni.warp-1.8.2] startup +[5.370s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.404s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.408s] [ext: isaacsim.core.prims-0.6.1] startup +[5.477s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.489s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T17:46:22Z [5,902ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T17:46:22Z [5,902ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T17:46:22Z [5,904ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.932s] [ext: isaacsim.core.api-4.8.0] startup +[5.972s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.069s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.083s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.100s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.116s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.160s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.179s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.219s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.240s] [ext: omni.sensors.net-1.0.0] startup +[6.247s] [ext: isaacsim.app.about-2.0.11] startup +[6.255s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.258s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.272s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.289s] [ext: omni.kit.property.audio-1.0.16] startup +[6.315s] [ext: omni.kit.property.camera-1.0.10] startup +[6.328s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.381s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.466s] [ext: omni.kit.property.light-1.0.12] startup +[6.529s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.541s] [ext: omni.kit.selection-0.1.6] startup +[6.593s] [ext: omni.kit.property.material-1.11.9] startup +[6.833s] [ext: omni.kit.property.transform-1.5.13] startup +[6.848s] [ext: omni.kit.property.render-1.2.1] startup +[6.855s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.863s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.888s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.915s] [ext: isaacsim.gui.property-1.1.3] startup +[6.930s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.940s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.964s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.983s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.050s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.073s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.086s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.094s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.098s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.115s] [ext: omni.kit.window.console-1.1.4] startup +[7.134s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.147s] [ext: omni.ocio-0.1.1] startup +[7.154s] [ext: omni.physx.demos-107.3.26] startup +[7.200s] [ext: omni.kit.property.physx-107.3.26] startup +[7.243s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.252s] [ext: omni.asset_validator.core-1.1.6] startup +[7.342s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.348s] [ext: omni.physx.vehicle-107.3.26] startup +[7.371s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.385s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.389s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.395s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.406s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.413s] [ext: omni.physx.camera-107.3.26] startup +[7.429s] [ext: omni.anim.curve.core-1.3.1] startup +[7.449s] [ext: omni.physx.cct-107.3.26] startup +[7.464s] [ext: omni.physx.graph-107.3.26] startup +[7.480s] [ext: omni.physx.supportui-107.3.26] startup +[7.499s] [ext: omni.physx.telemetry-107.3.26] startup +[7.503s] [ext: isaaclab-0.54.3] startup +[7.723s] [ext: isaaclab_contrib-0.0.2] startup +[7.726s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.727s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.734s] [ext: semantics.schema.property-2.0.1] startup +[7.736s] [ext: omni.physx.bundle-107.3.26] startup +[7.740s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.744s] [ext: isaaclab_assets-0.2.4] startup +[8.061s] [ext: isaaclab_tasks-0.11.14] startup +[8.212s] [ext: omni.kit.menu.common-2.0.1] startup +[8.215s] [ext: isaaclab_rl-0.5.0] startup +[8.216s] [ext: isaaclab_mimic-1.0.16] startup +[8.218s] [ext: isaaclab.python-2.3.2] startup +[8.221s] Simulation App Starting +2026-07-24T17:46:24Z [8,268ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T17:46:24Z [8,272ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T17:46:24Z [8,272ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T17:46:24Z [8,272ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T17:46:24Z [8,298ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.343s] app ready +[11.893s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_01-46-44.log +====================================================================================================== + +01:46:44 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 36 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T17:46:44Z [28,430ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T17:46:44Z [28,559ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:46:44Z [28,572ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:46:44Z [28,581ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.630294 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T17:46:44Z [28,593ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:44Z [28,598ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:45Z [28,981ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:45Z [28,982ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:45Z [28,984ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:45Z [28,985ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:45Z [28,985ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +2026-07-24T17:46:45Z [28,986ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56499887c0c0:World0.usd@ <0x5649a50a8530>) + +[INFO]: Time taken for simulation start : 0.630436 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T17:46:54Z [37,680ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T17:46:54Z [37,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:46:54Z [37,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:46:54Z [37,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:46:54Z [37,967ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:47:05Z [48,836ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=36 variant=345 rng_seed=236345 piece_order=[1, 2, 3, 0, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece4 grasp=right_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=1 +env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=982 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_01-46-13_semantic-w06-s0047-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0047-a000,split=all,layout=36,variant=345,behavior=335/2026-07-25_01-46-13_semantic-w06-s0047-a000/episode_0000000_cam_head_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0047-a000,split=all,layout=36,variant=345,behavior=335/2026-07-25_01-46-13_semantic-w06-s0047-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0047-a000,split=all,layout=36,variant=345,behavior=335/2026-07-25_01-46-13_semantic-w06-s0047-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w06-s0047-a000,split=all,layout=36,variant=345,behavior=335/_resume_2026-07-25_01-46-13_semantic-w06-s0047-a000.json (eval completed) +2026-07-24T17:50:31Z [254,916ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:50:31Z [254,916ms] [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) +[255.256s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-49-52_semantic-w00-s0048-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-49-52_semantic-w00-s0048-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..1840dac04db971dd5c11a90bafe6e492444fc1e1 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-49-52_semantic-w00-s0048-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_01-49-52_semantic-w00-s0048-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_014954.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +[0.165s] [ext: omni.metrics.core-0.0.3] startup +[0.165s] [ext: omni.client.lib-1.1.0] startup +[0.178s] [ext: omni.blobkey-1.1.2] startup +[0.179s] [ext: omni.stats-1.0.1] startup +[0.179s] [ext: omni.datastore-0.0.0] startup +[0.185s] [ext: omni.client-1.3.0] startup +[0.189s] [ext: omni.ujitso.default-1.0.0] startup +[0.191s] [ext: omni.hsscclient-1.1.2] startup +[0.213s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.215s] [ext: omni.assets.plugins-0.0.0] startup +[0.216s] [ext: omni.gpu_foundation-0.0.0] startup +[0.223s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T17:49:55Z [202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:55Z [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) +[0.223s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T17:49:55Z [272ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T17:49:55Z [280ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T17:49:55Z [280ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T17:49:55Z [280ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T17:49:55Z [332ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T17:49:55Z [984ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [984ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [986ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [987ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [987ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [988ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [988ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:49:55Z [989ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 509761 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.904s] [ext: omni.materialx.libs-1.0.7] startup +[1.910s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.911s] [ext: omni.kit.test-2.0.1] startup +[1.949s] [ext: omni.kit.pipapi-0.0.0] startup +[1.950s] [ext: omni.usd.config-1.0.6] startup +[1.953s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.953s] [ext: omni.usd.libs-1.0.1] startup +[2.028s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.029s] [ext: omni.mdl-56.0.3] startup +[2.084s] [ext: omni.iray.libs-0.0.0] startup +[2.089s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.091s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.176s] [ext: omni.kit.telemetry-0.5.2] startup +[2.221s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T17:49:57Z [2,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:57Z [2,200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.224s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T17:49:57Z [2,218ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:57Z [2,218ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:49:57Z [2,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:57Z [2,226ms] [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) +[2.249s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.252s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T17:49:57Z [2,234ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:57Z [2,234ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:49:57Z [2,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:57Z [2,235ms] [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) +2026-07-24T17:49:57Z [2,236ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:49:57Z [2,236ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.326s] [ext: omni.ui-2.27.1] startup +[2.335s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.335s] [ext: carb.audio-0.1.0] startup +[2.359s] [ext: omni.uiaudio-1.0.0] startup +[2.360s] [ext: omni.kit.uiapp-0.0.0] startup +[2.360s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.363s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.368s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.370s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.372s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.374s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.391s] [ext: omni.usd_resolver-1.0.0] startup +[2.394s] [ext: omni.usd.core-1.5.3] startup +[2.396s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.414s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.420s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.447s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.448s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.449s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.452s] [ext: omni.graph.exec-0.9.6] startup +[2.452s] [ext: omni.kit.actions.core-1.0.0] startup +[2.454s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.454s] [ext: omni.kit.exec.core-0.13.4] startup +[2.456s] [ext: omni.kit.commands-1.4.10] startup +[2.459s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.462s] [ext: omni.activity.core-1.0.3] startup +[2.463s] [ext: omni.resourcemonitor-107.0.1] startup +[2.464s] [ext: omni.timeline-1.0.14] startup +[2.466s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.467s] [ext: usdrt.scenegraph-7.6.1] startup +[2.498s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.499s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.505s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.509s] [ext: omni.usd-1.13.10] startup +[2.528s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.539s] [ext: omni.index.libs-380600.8087.0] startup +[2.539s] [ext: omni.volume-0.5.2] startup +[2.541s] [ext: omni.ujitso.client-0.0.0] startup +[2.541s] [ext: omni.index-1.0.1] startup +[2.542s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.543s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T17:49:57Z [2,539ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.572s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.574s] [ext: omni.kit.clipboard-1.0.5] startup +[2.574s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.576s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.620s] [ext: omni.kit.menu.core-1.1.2] startup +[2.621s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.623s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.624s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.625s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.627s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.627s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.631s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.631s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.638s] [ext: omni.ui.scene-1.11.5] startup +[2.641s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.642s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.653s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.658s] [ext: omni.kit.context_menu-1.8.6] startup +[2.660s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.663s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.666s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.667s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.668s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.668s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.671s] [ext: omni.kit.material.library-2.0.7] startup +[2.675s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.677s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.679s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.691s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.694s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.698s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.699s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.702s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.705s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.706s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.708s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.709s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.710s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.711s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.716s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.719s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.720s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.721s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.722s] [ext: omni.fabric.commands-1.1.6] startup +[2.724s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.725s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.726s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.727s] [ext: omni.debugdraw-0.1.4] startup +[2.730s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.738s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.739s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.739s] [ext: omni.kvdb-107.3.26] startup +[2.740s] [ext: omni.convexdecomposition-107.3.26] startup +[2.742s] [ext: omni.physx.foundation-107.3.26] startup +[2.743s] [ext: omni.localcache-107.3.26] startup +[2.744s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.745s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.745s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.746s] [ext: omni.usdphysics-107.3.26] startup +[2.747s] [ext: omni.kit.window.file-2.0.5] startup +[2.750s] [ext: omni.physx.cooking-107.3.26] startup +[2.752s] [ext: omni.physics-107.3.26] startup +[2.755s] [ext: omni.kit.window.property-1.12.1] startup +[2.757s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.766s] [ext: omni.physx-107.3.26] startup +[2.774s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.775s] [ext: omni.kit.property.usd-4.5.12] startup +[2.783s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.784s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T17:49:57Z [2,764ms] [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. +[2.786s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.786s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.797s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.800s] [ext: omni.inspect-1.0.2] startup +[2.801s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.810s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.811s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.816s] [ext: omni.graph.core-2.184.5] startup +[2.818s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.819s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.841s] [ext: omni.physx.commands-107.3.26] startup +[2.845s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.846s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T17:49:57Z [2,829ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.851s] [ext: omni.physx.ui-107.3.26] startup +[2.876s] [ext: isaacsim.core.version-2.0.6] startup +[2.876s] [ext: omni.physics.tensors-107.3.26] startup +[2.880s] [ext: omni.warp.core-1.8.2] startup +[3.040s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.042s] [ext: isaacsim.storage.native-1.5.1] startup +[3.043s] [ext: omni.physx.tensors-107.3.26] startup +[3.047s] [ext: isaacsim.core.utils-3.5.1] startup +[3.049s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.290s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.291s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.292s] [ext: omni.kit.window.stage-2.6.1] startup +[4.297s] [ext: omni.kit.menu.create-2.0.1] startup +[4.298s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.303s] [ext: omni.kit.scripting-107.3.2] startup +[4.306s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.309s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.310s] [ext: omni.graph.tools-1.79.2] startup +[4.328s] [ext: omni.ui_query-1.1.8] startup +[4.328s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.329s] [ext: omni.graph-1.141.2] startup +[4.364s] [ext: omni.graph.action_core-1.1.7] startup +[4.365s] [ext: omni.kit.ui_test-1.3.7] startup +[4.369s] [ext: omni.kit.browser.core-2.3.13] startup +[4.372s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.375s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.378s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.384s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.390s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.397s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.408s] [ext: omni.graph.action-1.130.0] startup +[4.411s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.416s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.425s] [ext: isaacsim.gui.components-1.2.1] startup +[4.432s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.443s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.544s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.549s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.558s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.637s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T17:49:59Z [4,624ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.647s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.647s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.651s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.657s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.660s] [ext: omni.graph.image.core-0.6.1] startup +[4.663s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.663s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.666s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.667s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.669s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.671s] [ext: omni.graph.nodes-1.170.10] startup +[4.680s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.685s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.688s] [ext: omni.syntheticdata-0.6.13] startup +[4.712s] [ext: omni.videoencoding-0.1.2] startup +[4.718s] [ext: omni.warp-1.8.2] startup +[4.725s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.748s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.754s] [ext: isaacsim.core.prims-0.6.1] startup +[4.802s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.823s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T17:49:59Z [4,946ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T17:49:59Z [4,946ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T17:49:59Z [4,949ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[4.975s] [ext: isaacsim.core.api-4.8.0] startup +[5.007s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.067s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.092s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.104s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.127s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.153s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.181s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.251s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.301s] [ext: omni.sensors.net-1.0.0] startup +[5.327s] [ext: isaacsim.app.about-2.0.11] startup +[5.344s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.348s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.356s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.371s] [ext: omni.kit.property.audio-1.0.16] startup +[5.383s] [ext: omni.kit.property.camera-1.0.10] startup +[5.394s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.415s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.431s] [ext: omni.kit.property.light-1.0.12] startup +[5.470s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.484s] [ext: omni.kit.selection-0.1.6] startup +[5.491s] [ext: omni.kit.property.material-1.11.9] startup +[5.543s] [ext: omni.kit.property.transform-1.5.13] startup +[5.562s] [ext: omni.kit.property.render-1.2.1] startup +[5.574s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.586s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.660s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.792s] [ext: isaacsim.gui.property-1.1.3] startup +[5.892s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.965s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.104s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.225s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.295s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.326s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.340s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.352s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.356s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.377s] [ext: omni.kit.window.console-1.1.4] startup +[6.392s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.407s] [ext: omni.ocio-0.1.1] startup +[6.414s] [ext: omni.physx.demos-107.3.26] startup +[6.463s] [ext: omni.kit.property.physx-107.3.26] startup +[6.504s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.512s] [ext: omni.asset_validator.core-1.1.6] startup +[6.579s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.587s] [ext: omni.physx.vehicle-107.3.26] startup +[6.604s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.618s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.623s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.629s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.642s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.648s] [ext: omni.physx.camera-107.3.26] startup +[6.659s] [ext: omni.anim.curve.core-1.3.1] startup +[6.677s] [ext: omni.physx.cct-107.3.26] startup +[6.697s] [ext: omni.physx.graph-107.3.26] startup +[6.722s] [ext: omni.physx.supportui-107.3.26] startup +[6.748s] [ext: omni.physx.telemetry-107.3.26] startup +[6.753s] [ext: isaaclab-0.54.3] startup +[7.057s] [ext: isaaclab_contrib-0.0.2] startup +[7.060s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.062s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.065s] [ext: semantics.schema.property-2.0.1] startup +[7.067s] [ext: omni.physx.bundle-107.3.26] startup +[7.069s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.074s] [ext: isaaclab_assets-0.2.4] startup +[7.381s] [ext: isaaclab_tasks-0.11.14] startup +[7.534s] [ext: omni.kit.menu.common-2.0.1] startup +[7.536s] [ext: isaaclab_rl-0.5.0] startup +[7.538s] [ext: isaaclab_mimic-1.0.16] startup +[7.539s] [ext: isaaclab.python-2.3.2] startup +[7.541s] Simulation App Starting +2026-07-24T17:50:02Z [7,586ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T17:50:02Z [7,590ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T17:50:02Z [7,590ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T17:50:02Z [7,590ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T17:50:02Z [7,615ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.662s] app ready +[12.037s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_01-50-21.log +====================================================================================================== + +01:50:21 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 37 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T17:50:22Z [27,487ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T17:50:22Z [27,615ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:50:22Z [27,628ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:50:22Z [27,637ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.599253 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T17:50:22Z [27,650ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [27,656ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [28,056ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [28,056ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [28,058ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [28,059ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [28,059ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +2026-07-24T17:50:22Z [28,060ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b7b0716cb0:World0.usd@ <0x55b7bcef58c0>) + +[INFO]: Time taken for simulation start : 0.662183 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T17:50:32Z [37,699ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T17:50:34Z [40,025ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:50:34Z [40,025ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:50:34Z [40,025ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:50:34Z [40,025ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:50:43Z [48,844ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=37 variant=346 rng_seed=37346 piece_order=[3, 0, 4, 2, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece3 grasp=right_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=6 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1010 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_01-49-52_semantic-w00-s0048-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0048-a000,split=all,layout=37,variant=346,behavior=336/2026-07-25_01-49-52_semantic-w00-s0048-a000/episode_0000000_cam_head_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0048-a000,split=all,layout=37,variant=346,behavior=336/2026-07-25_01-49-52_semantic-w00-s0048-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0048-a000,split=all,layout=37,variant=346,behavior=336/2026-07-25_01-49-52_semantic-w00-s0048-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0048-a000,split=all,layout=37,variant=346,behavior=336/_resume_2026-07-25_01-49-52_semantic-w00-s0048-a000.json (eval completed) +2026-07-24T17:54:16Z [261,597ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:54:16Z [261,597ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[261.943s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-57-46_semantic-w02-s0050-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-57-46_semantic-w02-s0050-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..1739c89540895f43cb72def75ff394fe46110b02 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_01-57-46_semantic-w02-s0050-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_01-57-46_semantic-w02-s0050-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_015747.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +[0.177s] [ext: omni.metrics.core-0.0.3] startup +[0.178s] [ext: omni.client.lib-1.1.0] startup +[0.190s] [ext: omni.blobkey-1.1.2] startup +[0.191s] [ext: omni.stats-1.0.1] startup +[0.191s] [ext: omni.datastore-0.0.0] startup +[0.196s] [ext: omni.client-1.3.0] startup +[0.201s] [ext: omni.ujitso.default-1.0.0] startup +[0.203s] [ext: omni.hsscclient-1.1.2] startup +[0.235s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.237s] [ext: omni.assets.plugins-0.0.0] startup +[0.238s] [ext: omni.gpu_foundation-0.0.0] startup +[0.247s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T17:57:48Z [227ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:48Z [227ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.247s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T17:57:48Z [280ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T17:57:48Z [281ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T17:57:48Z [281ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T17:57:48Z [281ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T17:57:48Z [340ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T17:57:48Z [1,002ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,002ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,003ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,003ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,004ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T17:57:48Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 509343 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.915s] [ext: omni.materialx.libs-1.0.7] startup +[1.922s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.923s] [ext: omni.kit.test-2.0.1] startup +[1.962s] [ext: omni.kit.pipapi-0.0.0] startup +[1.963s] [ext: omni.usd.config-1.0.6] startup +[1.966s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.966s] [ext: omni.usd.libs-1.0.1] startup +[2.042s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.042s] [ext: omni.mdl-56.0.3] startup +[2.102s] [ext: omni.iray.libs-0.0.0] startup +[2.107s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.109s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.194s] [ext: omni.kit.telemetry-0.5.2] startup +[2.226s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T17:57:50Z [2,206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:50Z [2,206ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.229s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T17:57:50Z [2,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:50Z [2,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:57:50Z [2,230ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:50Z [2,230ms] [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) +[2.252s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.253s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T17:57:50Z [2,236ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:50Z [2,236ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:57:50Z [2,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:50Z [2,237ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T17:57:50Z [2,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T17:57:50Z [2,237ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.358s] [ext: omni.ui-2.27.1] startup +[2.369s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.370s] [ext: carb.audio-0.1.0] startup +[2.399s] [ext: omni.uiaudio-1.0.0] startup +[2.400s] [ext: omni.kit.uiapp-0.0.0] startup +[2.400s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.403s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.409s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.412s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.415s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.418s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.439s] [ext: omni.usd_resolver-1.0.0] startup +[2.442s] [ext: omni.usd.core-1.5.3] startup +[2.445s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.464s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.471s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.497s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.498s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.499s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.502s] [ext: omni.graph.exec-0.9.6] startup +[2.502s] [ext: omni.kit.actions.core-1.0.0] startup +[2.504s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.504s] [ext: omni.kit.exec.core-0.13.4] startup +[2.506s] [ext: omni.kit.commands-1.4.10] startup +[2.508s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.511s] [ext: omni.activity.core-1.0.3] startup +[2.513s] [ext: omni.resourcemonitor-107.0.1] startup +[2.514s] [ext: omni.timeline-1.0.14] startup +[2.516s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.517s] [ext: usdrt.scenegraph-7.6.1] startup +[2.549s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.550s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.556s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.559s] [ext: omni.usd-1.13.10] startup +[2.580s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.590s] [ext: omni.index.libs-380600.8087.0] startup +[2.590s] [ext: omni.volume-0.5.2] startup +[2.593s] [ext: omni.ujitso.client-0.0.0] startup +[2.593s] [ext: omni.index-1.0.1] startup +[2.593s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.594s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T17:57:50Z [2,589ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.623s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.625s] [ext: omni.kit.clipboard-1.0.5] startup +[2.625s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.627s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.631s] [ext: omni.kit.menu.core-1.1.2] startup +[2.632s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.634s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.635s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.636s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.637s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.637s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.641s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.641s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.648s] [ext: omni.ui.scene-1.11.5] startup +[2.652s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.652s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.664s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.670s] [ext: omni.kit.context_menu-1.8.6] startup +[2.671s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.675s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.677s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.679s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.680s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.680s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.683s] [ext: omni.kit.material.library-2.0.7] startup +[2.686s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.688s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.690s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.702s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.705s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.709s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.710s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.713s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.719s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.720s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.721s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.723s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.723s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.724s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.730s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.732s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.733s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.734s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.735s] [ext: omni.fabric.commands-1.1.6] startup +[2.737s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.738s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.739s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.740s] [ext: omni.debugdraw-0.1.4] startup +[2.742s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.751s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.752s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.752s] [ext: omni.kvdb-107.3.26] startup +[2.753s] [ext: omni.convexdecomposition-107.3.26] startup +[2.755s] [ext: omni.physx.foundation-107.3.26] startup +[2.756s] [ext: omni.localcache-107.3.26] startup +[2.758s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.758s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.759s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.759s] [ext: omni.usdphysics-107.3.26] startup +[2.761s] [ext: omni.kit.window.file-2.0.5] startup +[2.763s] [ext: omni.physx.cooking-107.3.26] startup +[2.765s] [ext: omni.physics-107.3.26] startup +[2.768s] [ext: omni.kit.window.property-1.12.1] startup +[2.770s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.780s] [ext: omni.physx-107.3.26] startup +[2.788s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.790s] [ext: omni.kit.property.usd-4.5.12] startup +[2.798s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.799s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T17:57:50Z [2,780ms] [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. +[2.801s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.801s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.812s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.815s] [ext: omni.inspect-1.0.2] startup +[2.816s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.825s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.826s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.832s] [ext: omni.graph.core-2.184.5] startup +[2.834s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.836s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.859s] [ext: omni.physx.commands-107.3.26] startup +[2.862s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.863s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T17:57:50Z [2,847ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.867s] [ext: omni.physx.ui-107.3.26] startup +[2.895s] [ext: isaacsim.core.version-2.0.6] startup +[2.895s] [ext: omni.physics.tensors-107.3.26] startup +[2.899s] [ext: omni.warp.core-1.8.2] startup +[3.059s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.061s] [ext: isaacsim.storage.native-1.5.1] startup +[3.062s] [ext: omni.physx.tensors-107.3.26] startup +[3.067s] [ext: isaacsim.core.utils-3.5.1] startup +[3.069s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.353s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.354s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.356s] [ext: omni.kit.window.stage-2.6.1] startup +[4.359s] [ext: omni.kit.menu.create-2.0.1] startup +[4.360s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.365s] [ext: omni.kit.scripting-107.3.2] startup +[4.368s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.371s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.371s] [ext: omni.graph.tools-1.79.2] startup +[4.389s] [ext: omni.ui_query-1.1.8] startup +[4.389s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.390s] [ext: omni.graph-1.141.2] startup +[4.425s] [ext: omni.graph.action_core-1.1.7] startup +[4.427s] [ext: omni.kit.ui_test-1.3.7] startup +[4.430s] [ext: omni.kit.browser.core-2.3.13] startup +[4.433s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.436s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.439s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.442s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.455s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.458s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.468s] [ext: omni.graph.action-1.130.0] startup +[4.473s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.477s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.482s] [ext: isaacsim.gui.components-1.2.1] startup +[4.487s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.494s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.593s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.597s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.605s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.674s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T17:57:52Z [4,662ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.684s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.686s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.689s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.696s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.699s] [ext: omni.graph.image.core-0.6.1] startup +[4.701s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.702s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.704s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.709s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.711s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.713s] [ext: omni.graph.nodes-1.170.10] startup +[4.721s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.726s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.730s] [ext: omni.syntheticdata-0.6.13] startup +[4.753s] [ext: omni.videoencoding-0.1.2] startup +[4.757s] [ext: omni.warp-1.8.2] startup +[4.764s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.780s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.786s] [ext: isaacsim.core.prims-0.6.1] startup +[4.831s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.838s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T17:57:52Z [5,038ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T17:57:52Z [5,038ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T17:57:52Z [5,040ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.065s] [ext: isaacsim.core.api-4.8.0] startup +[5.135s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.329s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.364s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.388s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.404s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.437s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.466s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.541s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.562s] [ext: omni.sensors.net-1.0.0] startup +[5.586s] [ext: isaacsim.app.about-2.0.11] startup +[5.618s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.622s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.635s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.666s] [ext: omni.kit.property.audio-1.0.16] startup +[5.727s] [ext: omni.kit.property.camera-1.0.10] startup +[5.744s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.871s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.940s] [ext: omni.kit.property.light-1.0.12] startup +[6.024s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.041s] [ext: omni.kit.selection-0.1.6] startup +[6.084s] [ext: omni.kit.property.material-1.11.9] startup +[6.390s] [ext: omni.kit.property.transform-1.5.13] startup +[6.444s] [ext: omni.kit.property.render-1.2.1] startup +[6.456s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.472s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.517s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.552s] [ext: isaacsim.gui.property-1.1.3] startup +[6.564s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.573s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.602s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.622s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.672s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.703s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.719s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.730s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.735s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.755s] [ext: omni.kit.window.console-1.1.4] startup +[6.769s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.782s] [ext: omni.ocio-0.1.1] startup +[6.789s] [ext: omni.physx.demos-107.3.26] startup +[6.835s] [ext: omni.kit.property.physx-107.3.26] startup +[6.874s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.884s] [ext: omni.asset_validator.core-1.1.6] startup +[6.983s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.988s] [ext: omni.physx.vehicle-107.3.26] startup +[7.013s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.031s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.035s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.043s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.059s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.065s] [ext: omni.physx.camera-107.3.26] startup +[7.083s] [ext: omni.anim.curve.core-1.3.1] startup +[7.100s] [ext: omni.physx.cct-107.3.26] startup +[7.122s] [ext: omni.physx.graph-107.3.26] startup +[7.154s] [ext: omni.physx.supportui-107.3.26] startup +[7.189s] [ext: omni.physx.telemetry-107.3.26] startup +[7.199s] [ext: isaaclab-0.54.3] startup +[7.474s] [ext: isaaclab_contrib-0.0.2] startup +[7.478s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.481s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.486s] [ext: semantics.schema.property-2.0.1] startup +[7.490s] [ext: omni.physx.bundle-107.3.26] startup +[7.495s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.499s] [ext: isaaclab_assets-0.2.4] startup +[7.787s] [ext: isaaclab_tasks-0.11.14] startup +[7.948s] [ext: omni.kit.menu.common-2.0.1] startup +[7.952s] [ext: isaaclab_rl-0.5.0] startup +[7.955s] [ext: isaaclab_mimic-1.0.16] startup +[7.956s] [ext: isaaclab.python-2.3.2] startup +[7.960s] Simulation App Starting +2026-07-24T17:57:55Z [8,016ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T17:57:55Z [8,016ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T17:57:55Z [8,016ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T17:57:55Z [8,042ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.088s] app ready +[11.771s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_01-58-14.log +====================================================================================================== + +01:58:14 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 42 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T17:58:14Z [26,858ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T17:58:14Z [27,006ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:58:14Z [27,019ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T17:58:14Z [27,028ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.623336 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T17:58:14Z [27,040ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:14Z [27,046ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:15Z [27,429ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:15Z [27,429ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:15Z [27,433ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:15Z [27,434ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:15Z [27,434ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +2026-07-24T17:58:15Z [27,435ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f59220f5e0:World0.usd@ <0x55f59ea5d8b0>) + +[INFO]: Time taken for simulation start : 0.640545 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T17:58:24Z [36,383ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T17:58:31Z [43,302ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:58:31Z [43,302ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:58:31Z [43,302ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:58:31Z [43,302ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T17:58:36Z [48,238ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=42 variant=362 rng_seed=142362 piece_order=[0, 3, 1, 4, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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/ 1100 env0 step: 171 / 1100 env0 step: 172 / 1100 env0 step: 173 / 1100 env0 step: 174 / 1100 env0 step: 175 / 1100 env0 step: 176 / 1100 env0 step: 177 / 1100 env0 step: 178 / 1100 env0 step: 179 / 1100 env0 step: 180 / 1100 env0 step: 181 / 1100 env0 step: 182 / 1100 env0 step: 183 / 1100 env0 step: 184 / 1100 env0 step: 185 / 1100 env0 step: 186 / 1100 env0 step: 187 / 1100 env0 step: 188 / 1100 env0 step: 189 / 1100 env0 step: 190 / 1100 env0 step: 191 / 1100 env0 step: 192 / 1100 env0 step: 193 / 1100 env0 step: 194 / 1100 env0 step: 195 / 1100 env0 step: 196 / 1100 env0 step: 197 / 1100 env0 step: 198 / 1100 env0 step: 199 / 1100 env0 step: 200 / 1100 env0 step: 201 / 1100 env0 step: 202 / 1100 env0 step: 203 / 1100 env0 step: 204 / 1100 env0 step: 205 / 1100 env0 step: 206 / 1100 [curobo-ttt] opponent=1/4 complete placed=2 empty=[1, 2, 3, 4, 5, 6, 8] +[curobo-ttt] semantic move=2/5 piece=player_piece3 grasp=right_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=3 +env0 step: 207 / 1100 env0 step: 208 / 1100 env0 step: 209 / 1100 env0 step: 210 / 1100 env0 step: 211 / 1100 env0 step: 212 / 1100 env0 step: 213 / 1100 env0 step: 214 / 1100 env0 step: 215 / 1100 env0 step: 216 / 1100 env0 step: 217 / 1100 env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 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+[curobo-ttt] semantic move=3/5 piece=player_piece1 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 428 / 1100 env0 step: 429 / 1100 env0 step: 430 / 1100 env0 step: 431 / 1100 env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 env0 step: 461 / 1100 env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 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env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[4] +[curobo-ttt] semantic move=5/5 piece=player_piece2 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 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env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=970 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_01-57-46_semantic-w02-s0050-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0050-a000,split=all,layout=42,variant=362,behavior=352/2026-07-25_01-57-46_semantic-w02-s0050-a000/episode_0000000_cam_head_success.mp4`, containing 195 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0050-a000,split=all,layout=42,variant=362,behavior=352/2026-07-25_01-57-46_semantic-w02-s0050-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 195 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0050-a000,split=all,layout=42,variant=362,behavior=352/2026-07-25_01-57-46_semantic-w02-s0050-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 195 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w02-s0050-a000,split=all,layout=42,variant=362,behavior=352/_resume_2026-07-25_01-57-46_semantic-w02-s0050-a000.json (eval completed) +2026-07-24T18:01:56Z [248,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:01:56Z [248,197ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[248.529s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-04-14_semantic-w06-s0051-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-04-14_semantic-w06-s0051-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..dac238e26ef9cb664289d46e2dd1e34790417b8d --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-04-14_semantic-w06-s0051-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54006 +[INFO] device_id = 6 → CUDA_VISIBLE_DEVICES=6 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-04-14_semantic-w06-s0051-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_020417.log +[0.054s] [ext: omni.kit.async_engine-0.0.3] startup +[0.170s] [ext: omni.metrics.core-0.0.3] startup +[0.170s] [ext: omni.client.lib-1.1.0] startup +[0.182s] [ext: omni.blobkey-1.1.2] startup +[0.182s] [ext: omni.stats-1.0.1] startup +[0.183s] [ext: omni.datastore-0.0.0] startup +[0.188s] [ext: omni.client-1.3.0] startup +[0.193s] [ext: omni.ujitso.default-1.0.0] startup +[0.194s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.218s] [ext: omni.assets.plugins-0.0.0] startup +[0.219s] [ext: omni.gpu_foundation-0.0.0] startup +[0.226s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:04:17Z [205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:17Z [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) +[0.226s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:04:17Z [274ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:04:17Z [282ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:04:17Z [282ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:04:17Z [282ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:04:17Z [337ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:04:18Z [1,003ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:04:18Z [1,011ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 515862 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.842s] [ext: omni.materialx.libs-1.0.7] startup +[1.849s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.850s] [ext: omni.kit.test-2.0.1] startup +[1.889s] [ext: omni.kit.pipapi-0.0.0] startup +[1.889s] [ext: omni.usd.config-1.0.6] startup +[1.892s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.893s] [ext: omni.usd.libs-1.0.1] startup +[1.967s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.967s] [ext: omni.mdl-56.0.3] startup +[2.027s] [ext: omni.iray.libs-0.0.0] startup +[2.032s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.035s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.121s] [ext: omni.kit.telemetry-0.5.2] startup +[2.164s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:04:19Z [2,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:19Z [2,144ms] [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) +[2.167s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:04:19Z [2,160ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:19Z [2,160ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:04:19Z [2,168ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:19Z [2,168ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.191s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.193s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:04:19Z [2,174ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:19Z [2,174ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:04:19Z [2,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:19Z [2,175ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:04:19Z [2,176ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:04:19Z [2,176ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.291s] [ext: omni.ui-2.27.1] startup +[2.300s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.301s] [ext: carb.audio-0.1.0] startup +[2.325s] [ext: omni.uiaudio-1.0.0] startup +[2.325s] [ext: omni.kit.uiapp-0.0.0] startup +[2.325s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.328s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.333s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.335s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.338s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.340s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.357s] [ext: omni.usd_resolver-1.0.0] startup +[2.360s] [ext: omni.usd.core-1.5.3] startup +[2.362s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.380s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.386s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.415s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.416s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.416s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.420s] [ext: omni.graph.exec-0.9.6] startup +[2.420s] [ext: omni.kit.actions.core-1.0.0] startup +[2.422s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.422s] [ext: omni.kit.exec.core-0.13.4] startup +[2.424s] [ext: omni.kit.commands-1.4.10] startup +[2.426s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.430s] [ext: omni.activity.core-1.0.3] startup +[2.431s] [ext: omni.resourcemonitor-107.0.1] startup +[2.432s] [ext: omni.timeline-1.0.14] startup +[2.434s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.435s] [ext: usdrt.scenegraph-7.6.1] startup +[2.466s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.467s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.472s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.476s] [ext: omni.usd-1.13.10] startup +[2.497s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.508s] [ext: omni.index.libs-380600.8087.0] startup +[2.508s] [ext: omni.volume-0.5.2] startup +[2.510s] [ext: omni.ujitso.client-0.0.0] startup +[2.510s] [ext: omni.index-1.0.1] startup +[2.511s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.512s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:04:19Z [2,507ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.541s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.542s] [ext: omni.kit.clipboard-1.0.5] startup +[2.543s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.545s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.549s] [ext: omni.kit.menu.core-1.1.2] startup +[2.549s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.552s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.553s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.553s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.554s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.555s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.559s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.559s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.566s] [ext: omni.ui.scene-1.11.5] startup +[2.569s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.570s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.581s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.587s] [ext: omni.kit.context_menu-1.8.6] startup +[2.589s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.592s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.595s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.597s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.597s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.598s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.601s] [ext: omni.kit.material.library-2.0.7] startup +[2.604s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.606s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.608s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.620s] [ext: 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omni.kit.window.file_exporter-1.0.33] startup +[2.656s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.657s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.657s] [ext: omni.debugdraw-0.1.4] startup +[2.660s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.669s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.670s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.670s] [ext: omni.kvdb-107.3.26] startup +[2.671s] [ext: omni.convexdecomposition-107.3.26] startup +[2.673s] [ext: omni.physx.foundation-107.3.26] startup +[2.675s] [ext: omni.localcache-107.3.26] startup +[2.676s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.676s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.677s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.677s] [ext: omni.usdphysics-107.3.26] startup +[2.679s] [ext: omni.kit.window.file-2.0.5] startup +[2.681s] [ext: omni.physx.cooking-107.3.26] startup +[2.684s] [ext: omni.physics-107.3.26] startup +[2.686s] [ext: omni.kit.window.property-1.12.1] startup +[2.688s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.698s] [ext: omni.physx-107.3.26] startup +[2.706s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.707s] [ext: omni.kit.property.usd-4.5.12] startup +[2.716s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.717s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:04:19Z [2,696ms] [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. +[2.718s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.719s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.730s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.733s] [ext: omni.inspect-1.0.2] startup +[2.734s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.743s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.744s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.750s] [ext: omni.graph.core-2.184.5] startup +[2.752s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.753s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.775s] [ext: omni.physx.commands-107.3.26] startup +[2.779s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.779s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:04:19Z [2,762ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.784s] [ext: omni.physx.ui-107.3.26] startup +[2.809s] [ext: isaacsim.core.version-2.0.6] startup +[2.810s] [ext: omni.physics.tensors-107.3.26] startup +[2.814s] [ext: omni.warp.core-1.8.2] startup +[2.975s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.977s] [ext: isaacsim.storage.native-1.5.1] startup +[2.978s] [ext: omni.physx.tensors-107.3.26] startup +[2.982s] [ext: isaacsim.core.utils-3.5.1] startup +[2.985s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.249s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.249s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.251s] [ext: omni.kit.window.stage-2.6.1] startup +[4.257s] [ext: omni.kit.menu.create-2.0.1] startup +[4.258s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.263s] [ext: omni.kit.scripting-107.3.2] startup +[4.267s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.270s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.270s] [ext: omni.graph.tools-1.79.2] startup +[4.288s] [ext: omni.ui_query-1.1.8] startup +[4.289s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.289s] [ext: omni.graph-1.141.2] startup +[4.326s] [ext: omni.graph.action_core-1.1.7] startup +[4.327s] [ext: omni.kit.ui_test-1.3.7] startup +[4.331s] [ext: omni.kit.browser.core-2.3.13] startup +[4.335s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.338s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.342s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.346s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.358s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.361s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.374s] [ext: omni.graph.action-1.130.0] startup +[4.377s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.382s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.389s] [ext: isaacsim.gui.components-1.2.1] startup +[4.397s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.409s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.499s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.506s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.515s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.597s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:04:21Z [4,584ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.607s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.610s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.613s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.620s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.623s] [ext: omni.graph.image.core-0.6.1] startup +[4.625s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.626s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.629s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.633s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.635s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.639s] [ext: omni.graph.nodes-1.170.10] startup +[4.653s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.659s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.665s] [ext: omni.syntheticdata-0.6.13] startup +[4.703s] [ext: omni.videoencoding-0.1.2] startup +[4.709s] [ext: omni.warp-1.8.2] startup +[4.718s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.745s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.750s] [ext: isaacsim.core.prims-0.6.1] startup +[4.816s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.839s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:04:22Z [5,060ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:04:22Z [5,060ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:04:22Z [5,063ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.093s] [ext: isaacsim.core.api-4.8.0] startup +[5.162s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.258s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.277s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.290s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.300s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.317s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.333s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.352s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.369s] [ext: omni.sensors.net-1.0.0] startup +[5.382s] [ext: isaacsim.app.about-2.0.11] startup +[5.394s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.399s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.412s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.423s] [ext: omni.kit.property.audio-1.0.16] startup +[5.435s] [ext: omni.kit.property.camera-1.0.10] startup +[5.457s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.474s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.486s] [ext: omni.kit.property.light-1.0.12] startup +[5.526s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.530s] [ext: omni.kit.selection-0.1.6] startup +[5.535s] [ext: omni.kit.property.material-1.11.9] startup +[5.585s] [ext: omni.kit.property.transform-1.5.13] startup +[5.611s] [ext: omni.kit.property.render-1.2.1] startup +[5.619s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.626s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.764s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.922s] [ext: isaacsim.gui.property-1.1.3] startup +[5.968s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.000s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.130s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.223s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.314s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.353s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.384s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.402s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.408s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.437s] [ext: omni.kit.window.console-1.1.4] startup +[6.453s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.476s] [ext: omni.ocio-0.1.1] startup +[6.477s] [ext: omni.physx.demos-107.3.26] startup +[6.571s] [ext: omni.kit.property.physx-107.3.26] startup +[6.622s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.633s] [ext: omni.asset_validator.core-1.1.6] startup +[6.718s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.724s] [ext: omni.physx.vehicle-107.3.26] startup +[6.746s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.763s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.768s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.777s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.791s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.799s] [ext: omni.physx.camera-107.3.26] startup +[6.819s] [ext: omni.anim.curve.core-1.3.1] startup +[6.837s] [ext: omni.physx.cct-107.3.26] startup +[6.853s] [ext: omni.physx.graph-107.3.26] startup +[6.889s] [ext: omni.physx.supportui-107.3.26] startup +[6.917s] [ext: omni.physx.telemetry-107.3.26] startup +[6.925s] [ext: isaaclab-0.54.3] startup +[7.212s] [ext: isaaclab_contrib-0.0.2] startup +[7.213s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.215s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.221s] [ext: semantics.schema.property-2.0.1] startup +[7.224s] [ext: omni.physx.bundle-107.3.26] startup +[7.225s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.230s] [ext: isaaclab_assets-0.2.4] startup +[7.523s] [ext: isaaclab_tasks-0.11.14] startup +[7.676s] [ext: omni.kit.menu.common-2.0.1] startup +[7.678s] [ext: isaaclab_rl-0.5.0] startup +[7.681s] [ext: isaaclab_mimic-1.0.16] startup +[7.682s] [ext: isaaclab.python-2.3.2] startup +[7.687s] Simulation App Starting +2026-07-24T18:04:24Z [7,734ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:04:24Z [7,738ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:04:24Z [7,738ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:04:24Z [7,738ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:04:24Z [7,763ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.810s] app ready +[11.489s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54006 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54006 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-04-43.log +====================================================================================================== + +02:04:44 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 46 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:04:44Z [27,513ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:04:44Z [27,642ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:04:44Z [27,655ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:04:44Z [27,664ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.617299 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:04:44Z [27,676ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:44Z [27,682ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:45Z [28,061ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:45Z [28,061ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:45Z [28,065ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:45Z [28,065ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:45Z [28,065ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +2026-07-24T18:04:45Z [28,066ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bb36064a90:World0.usd@ <0x55bb428e5910>) + +[INFO]: Time taken for simulation start : 0.635298 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:04:54Z [37,061ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:04:54Z [37,464ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:04:54Z [37,465ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:04:54Z [37,465ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:04:54Z [37,465ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:05:06Z [49,030ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=46 variant=373 rng_seed=46373 piece_order=[1, 4, 0, 3, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=7 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 818 / 1100 env0 step: 819 / 1100 env0 step: 820 / 1100 env0 step: 821 / 1100 env0 step: 822 / 1100 env0 step: 823 / 1100 env0 step: 824 / 1100 env0 step: 825 / 1100 env0 step: 826 / 1100 env0 step: 827 / 1100 env0 step: 828 / 1100 env0 step: 829 / 1100 env0 step: 830 / 1100 env0 step: 831 / 1100 env0 step: 832 / 1100 env0 step: 833 / 1100 env0 step: 834 / 1100 env0 step: 835 / 1100 env0 step: 836 / 1100 env0 step: 837 / 1100 env0 step: 838 / 1100 env0 step: 839 / 1100 env0 step: 840 / 1100 env0 step: 841 / 1100 env0 step: 842 / 1100 env0 step: 843 / 1100 env0 step: 844 / 1100 env0 step: 845 / 1100 env0 step: 846 / 1100 env0 step: 847 / 1100 env0 step: 848 / 1100 env0 step: 849 / 1100 env0 step: 850 / 1100 env0 step: 851 / 1100 env0 step: 852 / 1100 env0 step: 853 / 1100 env0 step: 854 / 1100 env0 step: 855 / 1100 env0 step: 856 / 1100 env0 step: 857 / 1100 env0 step: 858 / 1100 env0 step: 859 / 1100 env0 step: 860 / 1100 env0 step: 861 / 1100 env0 step: 862 / 1100 env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[0] +[curobo-ttt] semantic move=5/5 piece=player_piece2 grasp=far_side arm=right target=cell_0 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=0 +env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=971 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-04-14_semantic-w06-s0051-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0051-a000,split=all,layout=46,variant=373,behavior=363/2026-07-25_02-04-14_semantic-w06-s0051-a000/episode_0000000_cam_head_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0051-a000,split=all,layout=46,variant=373,behavior=363/2026-07-25_02-04-14_semantic-w06-s0051-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0051-a000,split=all,layout=46,variant=373,behavior=363/2026-07-25_02-04-14_semantic-w06-s0051-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 196 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w06-s0051-a000,split=all,layout=46,variant=373,behavior=363/_resume_2026-07-25_02-04-14_semantic-w06-s0051-a000.json (eval completed) +2026-07-24T18:08:34Z [257,253ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:08:34Z [257,253ms] [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) +[257.598s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-12-15_semantic-w00-s0053-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-12-15_semantic-w00-s0053-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..315f1496bfee2fdd3dfcbf87b7ef668cd94c9878 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-12-15_semantic-w00-s0053-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-12-15_semantic-w00-s0053-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_021218.log +[0.055s] [ext: omni.kit.async_engine-0.0.3] startup +[0.174s] [ext: omni.metrics.core-0.0.3] startup +[0.174s] [ext: omni.client.lib-1.1.0] startup +[0.187s] [ext: omni.blobkey-1.1.2] startup +[0.187s] [ext: omni.stats-1.0.1] startup +[0.188s] [ext: omni.datastore-0.0.0] startup +[0.194s] [ext: omni.client-1.3.0] startup +[0.199s] [ext: omni.ujitso.default-1.0.0] startup +[0.200s] [ext: omni.hsscclient-1.1.2] startup +[0.223s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.225s] [ext: omni.assets.plugins-0.0.0] startup +[0.226s] [ext: omni.gpu_foundation-0.0.0] startup +[0.233s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:12:18Z [212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:18Z [212ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.233s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:12:18Z [284ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:12:18Z [291ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:12:18Z [291ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:12:18Z [291ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:12:18Z [330ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:12:18Z [921ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [921ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [922ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [922ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [923ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [923ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [924ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [924ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:12:18Z [926ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 508121 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.853s] [ext: omni.materialx.libs-1.0.7] startup +[1.860s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.861s] [ext: omni.kit.test-2.0.1] startup +[1.899s] [ext: omni.kit.pipapi-0.0.0] startup +[1.900s] [ext: omni.usd.config-1.0.6] startup +[1.903s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.903s] [ext: omni.usd.libs-1.0.1] startup +[1.979s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.980s] [ext: omni.mdl-56.0.3] startup +[2.037s] [ext: omni.iray.libs-0.0.0] startup +[2.042s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.045s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.131s] [ext: omni.kit.telemetry-0.5.2] startup +[2.160s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:12:20Z [2,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:20Z [2,141ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.163s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:12:20Z [2,157ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:20Z [2,157ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:12:20Z [2,165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:20Z [2,165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.187s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.189s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:12:20Z [2,171ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:20Z [2,171ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:12:20Z [2,172ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:20Z [2,172ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:12:20Z [2,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:12:20Z [2,173ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.539s] [ext: omni.ui-2.27.1] startup +[2.548s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.549s] [ext: carb.audio-0.1.0] startup +[2.575s] [ext: omni.uiaudio-1.0.0] startup +[2.576s] [ext: omni.kit.uiapp-0.0.0] startup +[2.576s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.578s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.589s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.592s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.596s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.601s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.632s] [ext: omni.usd_resolver-1.0.0] startup +[2.637s] [ext: omni.usd.core-1.5.3] startup +[2.640s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.665s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.674s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.715s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.716s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.717s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.722s] [ext: omni.graph.exec-0.9.6] startup +[2.722s] [ext: omni.kit.actions.core-1.0.0] startup +[2.725s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.725s] [ext: omni.kit.exec.core-0.13.4] startup +[2.727s] [ext: omni.kit.commands-1.4.10] startup +[2.732s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.736s] [ext: omni.activity.core-1.0.3] startup +[2.738s] [ext: omni.resourcemonitor-107.0.1] startup +[2.740s] [ext: omni.timeline-1.0.14] startup +[2.742s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.744s] [ext: usdrt.scenegraph-7.6.1] startup +[2.783s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.785s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.791s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.796s] [ext: omni.usd-1.13.10] startup +[2.822s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.836s] [ext: omni.index.libs-380600.8087.0] startup +[2.836s] [ext: omni.volume-0.5.2] startup +[2.839s] [ext: omni.ujitso.client-0.0.0] startup +[2.839s] [ext: omni.index-1.0.1] startup +[2.840s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.840s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:12:20Z [2,836ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.869s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.870s] [ext: omni.kit.clipboard-1.0.5] startup +[2.871s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.873s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.877s] [ext: omni.kit.menu.core-1.1.2] startup +[2.877s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.880s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.882s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.882s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.883s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.884s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.888s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.889s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.895s] [ext: omni.ui.scene-1.11.5] startup +[2.899s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.899s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.911s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.917s] [ext: omni.kit.context_menu-1.8.6] startup +[2.919s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.922s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.925s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.926s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.927s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.927s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.931s] [ext: omni.kit.material.library-2.0.7] startup +[2.934s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.936s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.938s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.950s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.954s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.958s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.958s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.962s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.965s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.966s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.967s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.968s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.969s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.970s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.975s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.977s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.978s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.979s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.980s] [ext: omni.fabric.commands-1.1.6] startup +[2.982s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.983s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.984s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.985s] [ext: omni.debugdraw-0.1.4] startup +[2.987s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.996s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.997s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.997s] [ext: omni.kvdb-107.3.26] startup +[2.998s] [ext: omni.convexdecomposition-107.3.26] startup +[3.000s] [ext: omni.physx.foundation-107.3.26] startup +[3.001s] [ext: omni.localcache-107.3.26] startup +[3.002s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.003s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.003s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.004s] [ext: omni.usdphysics-107.3.26] startup +[3.005s] [ext: omni.kit.window.file-2.0.5] startup +[3.008s] [ext: omni.physx.cooking-107.3.26] startup +[3.010s] [ext: omni.physics-107.3.26] startup +[3.013s] [ext: omni.kit.window.property-1.12.1] startup +[3.015s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.024s] [ext: omni.physx-107.3.26] startup +[3.032s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.034s] [ext: omni.kit.property.usd-4.5.12] startup +[3.042s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.043s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:12:21Z [3,023ms] [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. +[3.044s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.045s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.055s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.059s] [ext: omni.inspect-1.0.2] startup +[3.060s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.069s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.070s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.076s] [ext: omni.graph.core-2.184.5] startup +[3.078s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.079s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.105s] [ext: omni.physx.commands-107.3.26] startup +[3.110s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.110s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:12:21Z [3,094ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.116s] [ext: omni.physx.ui-107.3.26] startup +[3.143s] [ext: isaacsim.core.version-2.0.6] startup +[3.143s] [ext: omni.physics.tensors-107.3.26] startup +[3.147s] [ext: omni.warp.core-1.8.2] startup +[3.309s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.311s] [ext: isaacsim.storage.native-1.5.1] startup +[3.312s] [ext: omni.physx.tensors-107.3.26] startup +[3.316s] [ext: isaacsim.core.utils-3.5.1] startup +[3.319s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.583s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.584s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.585s] [ext: omni.kit.window.stage-2.6.1] startup +[4.589s] [ext: omni.kit.menu.create-2.0.1] startup +[4.590s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.595s] [ext: omni.kit.scripting-107.3.2] startup +[4.599s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.601s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.602s] [ext: omni.graph.tools-1.79.2] startup +[4.620s] [ext: omni.ui_query-1.1.8] startup +[4.620s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.621s] [ext: omni.graph-1.141.2] startup +[4.655s] [ext: omni.graph.action_core-1.1.7] startup +[4.657s] [ext: omni.kit.ui_test-1.3.7] startup +[4.659s] [ext: omni.kit.browser.core-2.3.13] startup +[4.663s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.666s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.669s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.673s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.684s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.688s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.704s] [ext: omni.graph.action-1.130.0] startup +[4.707s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.713s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.726s] [ext: isaacsim.gui.components-1.2.1] startup +[4.739s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.750s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.868s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.873s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.883s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.987s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:12:22Z [4,975ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.000s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.000s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.004s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.012s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.016s] [ext: omni.graph.image.core-0.6.1] startup +[5.018s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.019s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.021s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.025s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.028s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.031s] [ext: omni.graph.nodes-1.170.10] startup +[5.042s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.048s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.054s] [ext: omni.syntheticdata-0.6.13] startup +[5.089s] [ext: omni.videoencoding-0.1.2] startup +[5.097s] [ext: omni.warp-1.8.2] startup +[5.104s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.134s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.139s] [ext: isaacsim.core.prims-0.6.1] startup +[5.201s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.216s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:12:23Z [5,390ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:12:23Z [5,390ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:12:23Z [5,392ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.422s] [ext: isaacsim.core.api-4.8.0] startup +[5.525s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.601s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.621s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.635s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.645s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.666s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.684s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.714s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.723s] [ext: omni.sensors.net-1.0.0] startup +[5.730s] [ext: isaacsim.app.about-2.0.11] startup +[5.737s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.739s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.743s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.755s] [ext: omni.kit.property.audio-1.0.16] startup +[5.764s] [ext: omni.kit.property.camera-1.0.10] startup +[5.774s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.788s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.805s] [ext: omni.kit.property.light-1.0.12] startup +[5.852s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.855s] [ext: omni.kit.selection-0.1.6] startup +[5.862s] [ext: omni.kit.property.material-1.11.9] startup +[5.916s] [ext: omni.kit.property.transform-1.5.13] startup +[5.938s] [ext: omni.kit.property.render-1.2.1] startup +[5.946s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.954s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.073s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.341s] [ext: isaacsim.gui.property-1.1.3] startup +[6.415s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.504s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.565s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.626s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.697s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.725s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.760s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.781s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.789s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.847s] [ext: omni.kit.window.console-1.1.4] startup +[6.864s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.882s] [ext: omni.ocio-0.1.1] startup +[6.890s] [ext: omni.physx.demos-107.3.26] startup +[6.948s] [ext: omni.kit.property.physx-107.3.26] startup +[7.001s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.011s] [ext: omni.asset_validator.core-1.1.6] startup +[7.116s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.125s] [ext: omni.physx.vehicle-107.3.26] startup +[7.151s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.171s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.178s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.187s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.201s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.207s] [ext: omni.physx.camera-107.3.26] startup +[7.220s] [ext: omni.anim.curve.core-1.3.1] startup +[7.241s] [ext: omni.physx.cct-107.3.26] startup +[7.259s] [ext: omni.physx.graph-107.3.26] startup +[7.286s] [ext: omni.physx.supportui-107.3.26] startup +[7.316s] [ext: omni.physx.telemetry-107.3.26] startup +[7.331s] [ext: isaaclab-0.54.3] startup +[7.612s] [ext: isaaclab_contrib-0.0.2] startup +[7.614s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.616s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.621s] [ext: semantics.schema.property-2.0.1] startup +[7.625s] [ext: omni.physx.bundle-107.3.26] startup +[7.628s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.633s] [ext: isaaclab_assets-0.2.4] startup +[7.919s] [ext: isaaclab_tasks-0.11.14] startup +[8.075s] [ext: omni.kit.menu.common-2.0.1] startup +[8.077s] [ext: isaaclab_rl-0.5.0] startup +[8.079s] [ext: isaaclab_mimic-1.0.16] startup +[8.080s] [ext: isaaclab.python-2.3.2] startup +[8.084s] Simulation App Starting +2026-07-24T18:12:26Z [8,132ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:12:26Z [8,137ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:12:26Z [8,137ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:12:26Z [8,137ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:12:26Z [8,163ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.210s] app ready +[12.230s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-12-45.log +====================================================================================================== + +02:12:45 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 48 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:12:45Z [27,598ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:12:45Z [27,723ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:12:45Z [27,736ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:12:45Z [27,745ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.610731 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:12:45Z [27,758ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:45Z [27,763ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:46Z [28,151ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:46Z [28,152ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:46Z [28,155ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:46Z [28,156ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:46Z [28,156ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +2026-07-24T18:12:46Z [28,156ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x555816199f40:World0.usd@ <0x55582298e330>) + +[INFO]: Time taken for simulation start : 0.646754 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:12:54Z [36,883ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:13:01Z [43,455ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:13:01Z [43,455ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:13:01Z [43,455ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:13:01Z [43,455ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:13:06Z [48,524ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=48 variant=381 rng_seed=248381 piece_order=[0, 1, 3, 4, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_8 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=8 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=5 +env0 step: 255 / 1100 env0 step: 256 / 1100 env0 step: 257 / 1100 env0 step: 258 / 1100 env0 step: 259 / 1100 env0 step: 260 / 1100 env0 step: 261 / 1100 env0 step: 262 / 1100 env0 step: 263 / 1100 env0 step: 264 / 1100 env0 step: 265 / 1100 env0 step: 266 / 1100 env0 step: 267 / 1100 env0 step: 268 / 1100 env0 step: 269 / 1100 env0 step: 270 / 1100 env0 step: 271 / 1100 env0 step: 272 / 1100 env0 step: 273 / 1100 env0 step: 274 / 1100 env0 step: 275 / 1100 env0 step: 276 / 1100 env0 step: 277 / 1100 env0 step: 278 / 1100 env0 step: 279 / 1100 env0 step: 280 / 1100 env0 step: 281 / 1100 env0 step: 282 / 1100 env0 step: 283 / 1100 env0 step: 284 / 1100 env0 step: 285 / 1100 env0 step: 286 / 1100 env0 step: 287 / 1100 env0 step: 288 / 1100 env0 step: 289 / 1100 env0 step: 290 / 1100 env0 step: 291 / 1100 env0 step: 292 / 1100 env0 step: 293 / 1100 env0 step: 294 / 1100 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env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[7] +[curobo-ttt] semantic move=5/5 piece=player_piece2 grasp=left_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=7 +env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1020 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-12-15_semantic-w00-s0053-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0053-a000,split=all,layout=48,variant=381,behavior=371/2026-07-25_02-12-15_semantic-w00-s0053-a000/episode_0000000_cam_head_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0053-a000,split=all,layout=48,variant=381,behavior=371/2026-07-25_02-12-15_semantic-w00-s0053-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0053-a000,split=all,layout=48,variant=381,behavior=371/2026-07-25_02-12-15_semantic-w00-s0053-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 205 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w00-s0053-a000,split=all,layout=48,variant=381,behavior=371/_resume_2026-07-25_02-12-15_semantic-w00-s0053-a000.json (eval completed) +2026-07-24T18:16:56Z [278,464ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:16:56Z [278,464ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[278.806s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-14-42_semantic-w05-s0053-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-14-42_semantic-w05-s0053-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..b6f1eca6e77a8a4fa3fd55f62f122ca30605b82e --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-14-42_semantic-w05-s0053-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54005 +[INFO] device_id = 5 → CUDA_VISIBLE_DEVICES=5 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-14-42_semantic-w05-s0053-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_021444.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +[0.170s] [ext: omni.metrics.core-0.0.3] startup +[0.171s] [ext: omni.client.lib-1.1.0] startup +[0.185s] [ext: omni.blobkey-1.1.2] startup +[0.185s] [ext: omni.stats-1.0.1] startup +[0.185s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.197s] [ext: omni.ujitso.default-1.0.0] startup +[0.198s] [ext: omni.hsscclient-1.1.2] startup +[0.221s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.223s] [ext: omni.assets.plugins-0.0.0] startup +[0.224s] [ext: omni.gpu_foundation-0.0.0] startup +[0.231s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:14:45Z [206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:45Z [206ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.232s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:14:45Z [265ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:14:45Z [266ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:14:45Z [266ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:14:45Z [266ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:14:45Z [320ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:14:45Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [967ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [967ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [968ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [968ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [974ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [974ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:14:45Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 508520 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.886s] [ext: omni.materialx.libs-1.0.7] startup +[1.894s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.894s] [ext: omni.kit.test-2.0.1] startup +[1.937s] [ext: omni.kit.pipapi-0.0.0] startup +[1.937s] [ext: omni.usd.config-1.0.6] startup +[1.940s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.940s] [ext: omni.usd.libs-1.0.1] startup +[2.014s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.014s] [ext: omni.mdl-56.0.3] startup +[2.073s] [ext: omni.iray.libs-0.0.0] startup +[2.079s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.081s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.164s] [ext: omni.kit.telemetry-0.5.2] startup +[2.208s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:14:47Z [2,184ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:47Z [2,184ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.212s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:14:47Z [2,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:47Z [2,200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:14:47Z [2,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:47Z [2,208ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.235s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.237s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:14:47Z [2,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:47Z [2,214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:14:47Z [2,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:47Z [2,215ms] [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) +2026-07-24T18:14:47Z [2,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:14:47Z [2,216ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.316s] [ext: omni.ui-2.27.1] startup +[2.325s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.326s] [ext: carb.audio-0.1.0] startup +[2.347s] [ext: omni.uiaudio-1.0.0] startup +[2.348s] [ext: omni.kit.uiapp-0.0.0] startup +[2.348s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.350s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.355s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.357s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.360s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.362s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.379s] [ext: omni.usd_resolver-1.0.0] startup +[2.382s] [ext: omni.usd.core-1.5.3] startup +[2.384s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.402s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.408s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.435s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.436s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.436s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.440s] [ext: omni.graph.exec-0.9.6] startup +[2.440s] [ext: omni.kit.actions.core-1.0.0] startup +[2.442s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.442s] [ext: omni.kit.exec.core-0.13.4] startup +[2.443s] [ext: omni.kit.commands-1.4.10] startup +[2.446s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.449s] [ext: omni.activity.core-1.0.3] startup +[2.450s] [ext: omni.resourcemonitor-107.0.1] startup +[2.452s] [ext: omni.timeline-1.0.14] startup +[2.453s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.455s] [ext: usdrt.scenegraph-7.6.1] startup +[2.484s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.485s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.491s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.494s] [ext: omni.usd-1.13.10] startup +[2.515s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.525s] [ext: omni.index.libs-380600.8087.0] startup +[2.525s] [ext: omni.volume-0.5.2] startup +[2.527s] [ext: omni.ujitso.client-0.0.0] startup +[2.528s] [ext: omni.index-1.0.1] startup +[2.528s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.529s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:14:47Z [2,519ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.557s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.558s] [ext: omni.kit.clipboard-1.0.5] startup +[2.559s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.561s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.604s] [ext: omni.kit.menu.core-1.1.2] startup +[2.605s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.607s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.608s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.609s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.610s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.610s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.614s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.615s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.621s] [ext: omni.ui.scene-1.11.5] startup +[2.624s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.625s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.636s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.642s] [ext: omni.kit.context_menu-1.8.6] startup +[2.643s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.647s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.650s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.651s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.652s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.652s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.655s] [ext: omni.kit.material.library-2.0.7] startup +[2.659s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.661s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.662s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.675s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.678s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.682s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.682s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.686s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.689s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.690s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.691s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.693s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.693s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.694s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.699s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.701s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.702s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.703s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.705s] [ext: omni.fabric.commands-1.1.6] startup +[2.707s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.707s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.708s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.709s] [ext: omni.debugdraw-0.1.4] startup +[2.712s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.720s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.721s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.721s] [ext: omni.kvdb-107.3.26] startup +[2.722s] [ext: omni.convexdecomposition-107.3.26] startup +[2.724s] [ext: omni.physx.foundation-107.3.26] startup +[2.726s] [ext: omni.localcache-107.3.26] startup +[2.727s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.727s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.727s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.728s] [ext: omni.usdphysics-107.3.26] startup +[2.730s] [ext: omni.kit.window.file-2.0.5] startup +[2.732s] [ext: omni.physx.cooking-107.3.26] startup +[2.734s] [ext: omni.physics-107.3.26] startup +[2.737s] [ext: omni.kit.window.property-1.12.1] startup +[2.739s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.748s] [ext: omni.physx-107.3.26] startup +[2.756s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.757s] [ext: omni.kit.property.usd-4.5.12] startup +[2.765s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.766s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:14:47Z [2,742ms] [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. +[2.768s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.768s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.778s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.782s] [ext: omni.inspect-1.0.2] startup +[2.783s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.792s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.793s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.799s] [ext: omni.graph.core-2.184.5] startup +[2.801s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.802s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.824s] [ext: omni.physx.commands-107.3.26] startup +[2.827s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.828s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:14:47Z [2,807ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.832s] [ext: omni.physx.ui-107.3.26] startup +[2.857s] [ext: isaacsim.core.version-2.0.6] startup +[2.858s] [ext: omni.physics.tensors-107.3.26] startup +[2.862s] [ext: omni.warp.core-1.8.2] startup +[3.018s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.019s] [ext: isaacsim.storage.native-1.5.1] startup +[3.020s] [ext: omni.physx.tensors-107.3.26] startup +[3.024s] [ext: isaacsim.core.utils-3.5.1] startup +[3.027s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.254s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.255s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.257s] [ext: omni.kit.window.stage-2.6.1] startup +[4.260s] [ext: omni.kit.menu.create-2.0.1] startup +[4.261s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.266s] [ext: omni.kit.scripting-107.3.2] startup +[4.269s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.272s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.272s] [ext: omni.graph.tools-1.79.2] startup +[4.290s] [ext: omni.ui_query-1.1.8] startup +[4.291s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.291s] [ext: omni.graph-1.141.2] startup +[4.325s] [ext: omni.graph.action_core-1.1.7] startup +[4.327s] [ext: omni.kit.ui_test-1.3.7] startup +[4.329s] [ext: omni.kit.browser.core-2.3.13] startup +[4.333s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.336s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.339s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.342s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.354s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.357s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.368s] [ext: omni.graph.action-1.130.0] startup +[4.371s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.375s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.383s] [ext: isaacsim.gui.components-1.2.1] startup +[4.393s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.403s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.488s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.493s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.500s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.584s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:14:49Z [4,569ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.600s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.600s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.607s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.615s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.619s] [ext: omni.graph.image.core-0.6.1] startup +[4.621s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.622s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.625s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.629s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.633s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.636s] [ext: omni.graph.nodes-1.170.10] startup +[4.650s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.656s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.664s] [ext: omni.syntheticdata-0.6.13] startup +[4.704s] [ext: omni.videoencoding-0.1.2] startup +[4.710s] [ext: omni.warp-1.8.2] startup +[4.720s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.750s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.756s] [ext: isaacsim.core.prims-0.6.1] startup +[4.850s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.871s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:14:50Z [5,084ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:14:50Z [5,084ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:14:50Z [5,085ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.118s] [ext: isaacsim.core.api-4.8.0] startup +[5.187s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.341s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.363s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.375s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.387s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.432s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.463s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.499s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.515s] [ext: omni.sensors.net-1.0.0] startup +[5.526s] [ext: isaacsim.app.about-2.0.11] startup +[5.538s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.542s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.549s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.561s] [ext: omni.kit.property.audio-1.0.16] startup +[5.572s] [ext: omni.kit.property.camera-1.0.10] startup +[5.596s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.605s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.629s] [ext: omni.kit.property.light-1.0.12] startup +[5.695s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.704s] [ext: omni.kit.selection-0.1.6] startup +[5.759s] [ext: omni.kit.property.material-1.11.9] startup +[6.021s] [ext: omni.kit.property.transform-1.5.13] startup +[6.130s] [ext: omni.kit.property.render-1.2.1] startup +[6.209s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.223s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.273s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.320s] [ext: isaacsim.gui.property-1.1.3] startup +[6.335s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.342s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.376s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.395s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.417s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.431s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.461s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.469s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.473s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.499s] [ext: omni.kit.window.console-1.1.4] startup +[6.510s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.523s] [ext: omni.ocio-0.1.1] startup +[6.531s] [ext: omni.physx.demos-107.3.26] startup +[6.578s] [ext: omni.kit.property.physx-107.3.26] startup +[6.620s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.629s] [ext: omni.asset_validator.core-1.1.6] startup +[6.713s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.722s] [ext: omni.physx.vehicle-107.3.26] startup +[6.744s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.760s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.766s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.773s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.786s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.793s] [ext: omni.physx.camera-107.3.26] startup +[6.810s] [ext: omni.anim.curve.core-1.3.1] startup +[6.827s] [ext: omni.physx.cct-107.3.26] startup +[6.842s] [ext: omni.physx.graph-107.3.26] startup +[6.868s] [ext: omni.physx.supportui-107.3.26] startup +[6.900s] [ext: omni.physx.telemetry-107.3.26] startup +[6.908s] [ext: isaaclab-0.54.3] startup +[7.202s] [ext: isaaclab_contrib-0.0.2] startup +[7.204s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.207s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.211s] [ext: semantics.schema.property-2.0.1] startup +[7.215s] [ext: omni.physx.bundle-107.3.26] startup +[7.215s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.224s] [ext: isaaclab_assets-0.2.4] startup +[7.506s] [ext: isaaclab_tasks-0.11.14] startup +[7.662s] [ext: omni.kit.menu.common-2.0.1] startup +[7.665s] [ext: isaaclab_rl-0.5.0] startup +[7.668s] [ext: isaaclab_mimic-1.0.16] startup +[7.669s] [ext: isaaclab.python-2.3.2] startup +[7.673s] Simulation App Starting +2026-07-24T18:14:52Z [7,714ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:14:52Z [7,717ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:14:52Z [7,717ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:14:52Z [7,717ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:14:52Z [7,741ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.791s] app ready +[11.669s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54005 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54005 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-15-10.log +====================================================================================================== + +02:15:11 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 50 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:15:11Z [26,551ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:15:11Z [26,675ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:15:11Z [26,688ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:15:11Z [26,697ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.584470 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:15:11Z [26,710ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:11Z [26,715ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:12Z [27,097ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:12Z [27,098ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:12Z [27,101ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:12Z [27,103ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:12Z [27,104ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +2026-07-24T18:15:12Z [27,104ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5640c0bd51e0:World0.usd@ <0x5640cd450c50>) + +[INFO]: Time taken for simulation start : 0.638696 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:15:20Z [35,834ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:15:21Z [36,271ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:15:21Z [36,271ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:15:21Z [36,271ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:15:21Z [36,271ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:15:32Z [47,240ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=50 variant=386 rng_seed=150386 piece_order=[1, 2, 0, 4, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=7 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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complete placed=6 empty=[3, 5, 6] +[curobo-ttt] semantic move=4/5 piece=player_piece4 grasp=right_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 737 / 1100 env0 step: 738 / 1100 env0 step: 739 / 1100 env0 step: 740 / 1100 env0 step: 741 / 1100 env0 step: 742 / 1100 env0 step: 743 / 1100 env0 step: 744 / 1100 env0 step: 745 / 1100 env0 step: 746 / 1100 env0 step: 747 / 1100 env0 step: 748 / 1100 env0 step: 749 / 1100 env0 step: 750 / 1100 env0 step: 751 / 1100 env0 step: 752 / 1100 env0 step: 753 / 1100 env0 step: 754 / 1100 env0 step: 755 / 1100 env0 step: 756 / 1100 env0 step: 757 / 1100 env0 step: 758 / 1100 env0 step: 759 / 1100 env0 step: 760 / 1100 env0 step: 761 / 1100 env0 step: 762 / 1100 env0 step: 763 / 1100 env0 step: 764 / 1100 env0 step: 765 / 1100 env0 step: 766 / 1100 env0 step: 767 / 1100 env0 step: 768 / 1100 env0 step: 769 / 1100 env0 step: 770 / 1100 env0 step: 771 / 1100 env0 step: 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env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[6] +[curobo-ttt] semantic move=5/5 piece=player_piece3 grasp=right_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=6 +env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 env0 step: 1040 / 1100 env0 step: 1041 / 1100 env0 step: 1042 / 1100 env0 step: 1043 / 1100 env0 step: 1044 / 1100 env0 step: 1045 / 1100 env0 step: 1046 / 1100 env0 step: 1047 / 1100 env0 step: 1048 / 1100 env0 step: 1049 / 1100 env0 step: 1050 / 1100 env0 step: 1051 / 1100 env0 step: 1052 / 1100 env0 step: 1053 / 1100 env0 step: 1054 / 1100 env0 step: 1055 / 1100 env0 step: 1056 / 1100 env0 step: 1057 / 1100 env0 step: 1058 / 1100 env0 step: 1059 / 1100 env0 step: 1060 / 1100 env0 step: 1061 / 1100 env0 step: 1062 / 1100 env0 step: 1063 / 1100 env0 step: 1064 / 1100 env0 step: 1065 / 1100 env0 step: 1066 / 1100 env0 step: 1067 / 1100 env0 step: 1068 / 1100 env0 step: 1069 / 1100 env0 step: 1070 / 1100 env0 step: 1071 / 1100 env0 step: 1072 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1072 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-14-42_semantic-w05-s0053-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0053-a000,split=all,layout=50,variant=386,behavior=376/2026-07-25_02-14-42_semantic-w05-s0053-a000/episode_0000000_cam_head_success.mp4`, containing 216 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0053-a000,split=all,layout=50,variant=386,behavior=376/2026-07-25_02-14-42_semantic-w05-s0053-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 216 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0053-a000,split=all,layout=50,variant=386,behavior=376/2026-07-25_02-14-42_semantic-w05-s0053-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 216 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w05-s0053-a000,split=all,layout=50,variant=386,behavior=376/_resume_2026-07-25_02-14-42_semantic-w05-s0053-a000.json (eval completed) +2026-07-24T18:19:27Z [282,684ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:19:27Z [282,684ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[283.018s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-16-59_semantic-w00-s0054-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-16-59_semantic-w00-s0054-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..758c2f2a284ddcae578485c09e86b1e924f09a1d --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-16-59_semantic-w00-s0054-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54000 +[INFO] device_id = 0 → CUDA_VISIBLE_DEVICES=0 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-16-59_semantic-w00-s0054-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_021701.log +[0.058s] [ext: omni.kit.async_engine-0.0.3] startup +[0.178s] [ext: omni.metrics.core-0.0.3] startup +[0.178s] [ext: omni.client.lib-1.1.0] startup +[0.191s] [ext: omni.blobkey-1.1.2] startup +[0.191s] [ext: omni.stats-1.0.1] startup +[0.191s] [ext: omni.datastore-0.0.0] startup +[0.197s] [ext: omni.client-1.3.0] startup +[0.201s] [ext: omni.ujitso.default-1.0.0] startup +[0.202s] [ext: omni.hsscclient-1.1.2] startup +[0.225s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.226s] [ext: omni.assets.plugins-0.0.0] startup +[0.228s] [ext: omni.gpu_foundation-0.0.0] startup +[0.235s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:17:02Z [210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:02Z [210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.235s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:17:02Z [279ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:17:02Z [285ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:17:02Z [285ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:17:02Z [285ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:17:02Z [317ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:17:02Z [889ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [889ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [890ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [890ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [891ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [891ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [892ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [892ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [893ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [893ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:02Z [894ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 507926 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.786s] [ext: omni.materialx.libs-1.0.7] startup +[1.794s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.794s] [ext: omni.kit.test-2.0.1] startup +[1.834s] [ext: omni.kit.pipapi-0.0.0] startup +[1.834s] [ext: omni.usd.config-1.0.6] startup +[1.837s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.837s] [ext: omni.usd.libs-1.0.1] startup +[1.912s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.912s] [ext: omni.mdl-56.0.3] startup +[1.969s] [ext: omni.iray.libs-0.0.0] startup +[1.974s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.976s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.062s] [ext: omni.kit.telemetry-0.5.2] startup +[2.097s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:17:03Z [2,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:03Z [2,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.101s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:17:03Z [2,094ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:03Z [2,094ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:03Z [2,104ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:03Z [2,104ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.130s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.133s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:17:03Z [2,111ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:03Z [2,111ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:03Z [2,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:03Z [2,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:03Z [2,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:03Z [2,114ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.220s] [ext: omni.ui-2.27.1] startup +[2.229s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.230s] [ext: carb.audio-0.1.0] startup +[2.255s] [ext: omni.uiaudio-1.0.0] startup +[2.255s] [ext: omni.kit.uiapp-0.0.0] startup +[2.255s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.257s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.263s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.265s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.267s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.270s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.286s] [ext: omni.usd_resolver-1.0.0] startup +[2.289s] [ext: omni.usd.core-1.5.3] startup +[2.291s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.309s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.315s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.342s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.343s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.344s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.347s] [ext: omni.graph.exec-0.9.6] startup +[2.347s] [ext: omni.kit.actions.core-1.0.0] startup +[2.349s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.349s] [ext: omni.kit.exec.core-0.13.4] startup +[2.351s] [ext: omni.kit.commands-1.4.10] startup +[2.354s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.356s] [ext: omni.activity.core-1.0.3] startup +[2.357s] [ext: omni.resourcemonitor-107.0.1] startup +[2.359s] [ext: omni.timeline-1.0.14] startup +[2.360s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.362s] [ext: usdrt.scenegraph-7.6.1] startup +[2.392s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.393s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.398s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.402s] [ext: omni.usd-1.13.10] startup +[2.422s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.432s] [ext: omni.index.libs-380600.8087.0] startup +[2.432s] [ext: omni.volume-0.5.2] startup +[2.434s] [ext: omni.ujitso.client-0.0.0] startup +[2.434s] [ext: omni.index-1.0.1] startup +[2.435s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.435s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:17:04Z [2,426ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.463s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.465s] [ext: omni.kit.clipboard-1.0.5] startup +[2.465s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.467s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.722s] [ext: omni.kit.menu.core-1.1.2] startup +[2.722s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.725s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.726s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.727s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.728s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.728s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.733s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.733s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.740s] [ext: omni.ui.scene-1.11.5] startup +[2.743s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.744s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.755s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.761s] [ext: omni.kit.context_menu-1.8.6] startup +[2.762s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.766s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.769s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.770s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.771s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.771s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.774s] [ext: omni.kit.material.library-2.0.7] startup +[2.778s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.780s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.782s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.794s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.798s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.802s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.802s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.805s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.808s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.809s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.811s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.812s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.813s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.814s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.819s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.821s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.822s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.823s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.824s] [ext: omni.fabric.commands-1.1.6] startup +[2.826s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.827s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.828s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.829s] [ext: omni.debugdraw-0.1.4] startup +[2.831s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.840s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.841s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.841s] [ext: omni.kvdb-107.3.26] startup +[2.842s] [ext: omni.convexdecomposition-107.3.26] startup +[2.844s] [ext: omni.physx.foundation-107.3.26] startup +[2.846s] [ext: omni.localcache-107.3.26] startup +[2.847s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.847s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.848s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.848s] [ext: omni.usdphysics-107.3.26] startup +[2.850s] [ext: omni.kit.window.file-2.0.5] startup +[2.852s] [ext: omni.physx.cooking-107.3.26] startup +[2.855s] [ext: omni.physics-107.3.26] startup +[2.857s] [ext: omni.kit.window.property-1.12.1] startup +[2.859s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.868s] [ext: omni.physx-107.3.26] startup +[2.877s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.878s] [ext: omni.kit.property.usd-4.5.12] startup +[2.887s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.888s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:17:04Z [2,864ms] [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. +[2.889s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.890s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.901s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.904s] [ext: omni.inspect-1.0.2] startup +[2.905s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.914s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.915s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.921s] [ext: omni.graph.core-2.184.5] startup +[2.923s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.924s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.946s] [ext: omni.physx.commands-107.3.26] startup +[2.950s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.950s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:17:04Z [2,930ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.955s] [ext: omni.physx.ui-107.3.26] startup +[2.981s] [ext: isaacsim.core.version-2.0.6] startup +[2.981s] [ext: omni.physics.tensors-107.3.26] startup +[2.985s] [ext: omni.warp.core-1.8.2] startup +[3.144s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.146s] [ext: isaacsim.storage.native-1.5.1] startup +[3.147s] [ext: omni.physx.tensors-107.3.26] startup +[3.151s] [ext: isaacsim.core.utils-3.5.1] startup +[3.154s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.389s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.390s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.391s] [ext: omni.kit.window.stage-2.6.1] startup +[4.396s] [ext: omni.kit.menu.create-2.0.1] startup +[4.397s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.402s] [ext: omni.kit.scripting-107.3.2] startup +[4.406s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.409s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.409s] [ext: omni.graph.tools-1.79.2] startup +[4.427s] [ext: omni.ui_query-1.1.8] startup +[4.428s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.428s] [ext: omni.graph-1.141.2] startup +[4.464s] [ext: omni.graph.action_core-1.1.7] startup +[4.465s] [ext: omni.kit.ui_test-1.3.7] startup +[4.469s] [ext: omni.kit.browser.core-2.3.13] startup +[4.472s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.475s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.478s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.482s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.495s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.498s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.509s] [ext: omni.graph.action-1.130.0] startup +[4.512s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.516s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.523s] [ext: isaacsim.gui.components-1.2.1] startup +[4.530s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.538s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.642s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.646s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.655s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.736s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:17:06Z [4,719ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.746s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.748s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.751s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.757s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.761s] [ext: omni.graph.image.core-0.6.1] startup +[4.763s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.763s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.766s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.770s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.772s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.774s] [ext: omni.graph.nodes-1.170.10] startup +[4.783s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.789s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.794s] [ext: omni.syntheticdata-0.6.13] startup +[4.822s] [ext: omni.videoencoding-0.1.2] startup +[4.828s] [ext: omni.warp-1.8.2] startup +[4.839s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.853s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.859s] [ext: isaacsim.core.prims-0.6.1] startup +[4.889s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.897s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:17:06Z [5,035ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:17:06Z [5,035ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:17:06Z [5,041ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.075s] [ext: isaacsim.core.api-4.8.0] startup +[5.126s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.275s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.297s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.311s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.322s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.343s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.359s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.390s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.399s] [ext: omni.sensors.net-1.0.0] startup +[5.414s] [ext: isaacsim.app.about-2.0.11] startup +[5.421s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.422s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.429s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.442s] [ext: omni.kit.property.audio-1.0.16] startup +[5.459s] [ext: omni.kit.property.camera-1.0.10] startup +[5.465s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.481s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.503s] [ext: omni.kit.property.light-1.0.12] startup +[5.546s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.550s] [ext: omni.kit.selection-0.1.6] startup +[5.557s] [ext: omni.kit.property.material-1.11.9] startup +[5.769s] [ext: omni.kit.property.transform-1.5.13] startup +[5.840s] [ext: omni.kit.property.render-1.2.1] startup +[5.891s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.920s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.127s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.180s] [ext: isaacsim.gui.property-1.1.3] startup +[6.190s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.201s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.233s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.260s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.294s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.309s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.324s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.334s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.339s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.360s] [ext: omni.kit.window.console-1.1.4] startup +[6.377s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.391s] [ext: omni.ocio-0.1.1] startup +[6.399s] [ext: omni.physx.demos-107.3.26] startup +[6.446s] [ext: omni.kit.property.physx-107.3.26] startup +[6.494s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.504s] [ext: omni.asset_validator.core-1.1.6] startup +[6.596s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.603s] [ext: omni.physx.vehicle-107.3.26] startup +[6.628s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.646s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.653s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.662s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.676s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.683s] [ext: omni.physx.camera-107.3.26] startup +[6.703s] [ext: omni.anim.curve.core-1.3.1] startup +[6.722s] [ext: omni.physx.cct-107.3.26] startup +[6.741s] [ext: omni.physx.graph-107.3.26] startup +[6.770s] [ext: omni.physx.supportui-107.3.26] startup +[6.805s] [ext: omni.physx.telemetry-107.3.26] startup +[6.812s] [ext: isaaclab-0.54.3] startup +[7.094s] [ext: isaaclab_contrib-0.0.2] startup +[7.096s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.100s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.107s] [ext: semantics.schema.property-2.0.1] startup +[7.111s] [ext: omni.physx.bundle-107.3.26] startup +[7.111s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.120s] [ext: isaaclab_assets-0.2.4] startup +[7.412s] [ext: isaaclab_tasks-0.11.14] startup +[7.575s] [ext: omni.kit.menu.common-2.0.1] startup +[7.578s] [ext: isaaclab_rl-0.5.0] startup +[7.582s] [ext: isaaclab_mimic-1.0.16] startup +[7.583s] [ext: isaaclab.python-2.3.2] startup +[7.586s] Simulation App Starting +2026-07-24T18:17:09Z [7,633ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:17:09Z [7,638ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:17:09Z [7,638ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:17:09Z [7,638ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:17:09Z [7,665ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.718s] app ready +[11.772s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54000 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54000 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-17-30.log +====================================================================================================== + +02:17:30 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 51 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:17:30Z [28,855ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:17:30Z [28,986ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:17:30Z [28,999ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:17:30Z [29,008ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.621451 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:17:30Z [29,021ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:30Z [29,027ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:31Z [29,445ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:31Z [29,445ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:31Z [29,448ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:31Z [29,448ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:31Z [29,449ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +2026-07-24T18:17:31Z [29,449ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5603c5e30150:World0.usd@ <0x5603d25c4230>) + +[INFO]: Time taken for simulation start : 0.677991 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:17:39Z [37,978ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:17:46Z [44,803ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:46Z [44,803ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:46Z [44,803ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:46Z [44,803ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:51Z [50,074ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=51 variant=388 rng_seed=51388 piece_order=[0, 2, 3, 4, 1] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_5 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=5 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 31 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env0 step: 171 / 1100 env0 step: 172 / 1100 env0 step: 173 / 1100 env0 step: 174 / 1100 env0 step: 175 / 1100 env0 step: 176 / 1100 env0 step: 177 / 1100 env0 step: 178 / 1100 env0 step: 179 / 1100 env0 step: 180 / 1100 env0 step: 181 / 1100 env0 step: 182 / 1100 env0 step: 183 / 1100 env0 step: 184 / 1100 env0 step: 185 / 1100 env0 step: 186 / 1100 env0 step: 187 / 1100 env0 step: 188 / 1100 env0 step: 189 / 1100 env0 step: 190 / 1100 env0 step: 191 / 1100 env0 step: 192 / 1100 env0 step: 193 / 1100 env0 step: 194 / 1100 env0 step: 195 / 1100 env0 step: 196 / 1100 env0 step: 197 / 1100 env0 step: 198 / 1100 env0 step: 199 / 1100 env0 step: 200 / 1100 env0 step: 201 / 1100 env0 step: 202 / 1100 env0 step: 203 / 1100 env0 step: 204 / 1100 env0 step: 205 / 1100 env0 step: 206 / 1100 env0 step: 207 / 1100 env0 step: 208 / 1100 env0 step: 209 / 1100 env0 step: 210 / 1100 env0 step: 211 / 1100 env0 step: 212 / 1100 env0 step: 213 / 1100 env0 step: 214 / 1100 env0 step: 215 / 1100 env0 step: 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909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[6] +[curobo-ttt] semantic move=5/5 piece=player_piece1 grasp=far_side arm=right target=cell_6 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=6 +env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 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989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1008 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-16-59_semantic-w00-s0054-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0054-a000,split=all,layout=51,variant=388,behavior=378/2026-07-25_02-16-59_semantic-w00-s0054-a000/episode_0000000_cam_head_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0054-a000,split=all,layout=51,variant=388,behavior=378/2026-07-25_02-16-59_semantic-w00-s0054-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0054-a000,split=all,layout=51,variant=388,behavior=378/2026-07-25_02-16-59_semantic-w00-s0054-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 203 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w00-s0054-a000,split=all,layout=51,variant=388,behavior=378/_resume_2026-07-25_02-16-59_semantic-w00-s0054-a000.json (eval completed) +2026-07-24T18:21:26Z [265,020ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:21:26Z [265,020ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[265.376s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-17-16_semantic-w01-s0054-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-17-16_semantic-w01-s0054-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..d29add78351281dd3c440ca7c87373c99358ce8f --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-17-16_semantic-w01-s0054-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54001 +[INFO] device_id = 1 → CUDA_VISIBLE_DEVICES=1 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-17-16_semantic-w01-s0054-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_021719.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +[0.170s] [ext: omni.metrics.core-0.0.3] startup +[0.170s] [ext: omni.client.lib-1.1.0] startup +[0.183s] [ext: omni.blobkey-1.1.2] startup +[0.183s] [ext: omni.stats-1.0.1] startup +[0.183s] [ext: omni.datastore-0.0.0] startup +[0.189s] [ext: omni.client-1.3.0] startup +[0.194s] [ext: omni.ujitso.default-1.0.0] startup +[0.195s] [ext: omni.hsscclient-1.1.2] startup +[0.218s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.219s] [ext: omni.assets.plugins-0.0.0] startup +[0.220s] [ext: omni.gpu_foundation-0.0.0] startup +[0.227s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:17:19Z [204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:19Z [204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.228s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:17:19Z [276ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:17:19Z [277ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:17:19Z [277ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:17:19Z [277ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:17:19Z [336ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:17:20Z [1,003ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,003ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:20Z [1,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 510536 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.869s] [ext: omni.materialx.libs-1.0.7] startup +[1.877s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.877s] [ext: omni.kit.test-2.0.1] startup +[1.916s] [ext: omni.kit.pipapi-0.0.0] startup +[1.917s] [ext: omni.usd.config-1.0.6] startup +[1.920s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.920s] [ext: omni.usd.libs-1.0.1] startup +[1.993s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.993s] [ext: omni.mdl-56.0.3] startup +[2.051s] [ext: omni.iray.libs-0.0.0] startup +[2.057s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.059s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.144s] [ext: omni.kit.telemetry-0.5.2] startup +[2.195s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:17:21Z [2,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:21Z [2,173ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.198s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:17:21Z [2,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:21Z [2,189ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:21Z [2,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:21Z [2,197ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.221s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.223s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:17:21Z [2,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:21Z [2,202ms] [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) +2026-07-24T18:17:21Z [2,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:21Z [2,203ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:21Z [2,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:21Z [2,204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.318s] [ext: omni.ui-2.27.1] startup +[2.327s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.328s] [ext: carb.audio-0.1.0] startup +[2.353s] [ext: omni.uiaudio-1.0.0] startup +[2.354s] [ext: omni.kit.uiapp-0.0.0] startup +[2.354s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.356s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.362s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.364s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.366s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.368s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.385s] [ext: omni.usd_resolver-1.0.0] startup +[2.388s] [ext: omni.usd.core-1.5.3] startup +[2.390s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.408s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.414s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.442s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.443s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.444s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.447s] [ext: omni.graph.exec-0.9.6] startup +[2.447s] [ext: omni.kit.actions.core-1.0.0] startup +[2.449s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.450s] [ext: omni.kit.exec.core-0.13.4] startup +[2.451s] [ext: omni.kit.commands-1.4.10] startup +[2.454s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.457s] [ext: omni.activity.core-1.0.3] startup +[2.458s] [ext: omni.resourcemonitor-107.0.1] startup +[2.459s] [ext: omni.timeline-1.0.14] startup +[2.461s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.462s] [ext: usdrt.scenegraph-7.6.1] startup +[2.493s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.494s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.499s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.504s] [ext: omni.usd-1.13.10] startup +[2.525s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.535s] [ext: omni.index.libs-380600.8087.0] startup +[2.535s] [ext: omni.volume-0.5.2] startup +[2.537s] [ext: omni.ujitso.client-0.0.0] startup +[2.537s] [ext: omni.index-1.0.1] startup +[2.538s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.538s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:17:21Z [2,531ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.567s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.568s] [ext: omni.kit.clipboard-1.0.5] startup +[2.569s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.571s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.575s] [ext: omni.kit.menu.core-1.1.2] startup +[2.575s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.578s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.579s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.580s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.581s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.581s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.585s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.586s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.592s] [ext: omni.ui.scene-1.11.5] startup +[2.597s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.597s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.610s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.616s] [ext: omni.kit.context_menu-1.8.6] startup +[2.617s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.621s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.623s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.625s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.626s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.626s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.629s] [ext: omni.kit.material.library-2.0.7] startup +[2.633s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.635s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.636s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.649s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.653s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.657s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.657s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.660s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.664s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.664s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.666s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.667s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.668s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.669s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.674s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.676s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.677s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.678s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.679s] [ext: omni.fabric.commands-1.1.6] startup +[2.681s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.682s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.683s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.684s] [ext: omni.debugdraw-0.1.4] startup +[2.686s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.695s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.696s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.696s] [ext: omni.kvdb-107.3.26] startup +[2.697s] [ext: omni.convexdecomposition-107.3.26] startup +[2.699s] [ext: omni.physx.foundation-107.3.26] startup +[2.701s] [ext: omni.localcache-107.3.26] startup +[2.702s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.702s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.703s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.703s] [ext: omni.usdphysics-107.3.26] startup +[2.705s] [ext: omni.kit.window.file-2.0.5] startup +[2.707s] [ext: omni.physx.cooking-107.3.26] startup +[2.710s] [ext: omni.physics-107.3.26] startup +[2.712s] [ext: omni.kit.window.property-1.12.1] startup +[2.714s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.723s] [ext: omni.physx-107.3.26] startup +[2.731s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.733s] [ext: omni.kit.property.usd-4.5.12] startup +[2.741s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.742s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:17:21Z [2,720ms] [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. +[2.744s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.744s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.755s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.758s] [ext: omni.inspect-1.0.2] startup +[2.759s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.768s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.769s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.774s] [ext: omni.graph.core-2.184.5] startup +[2.777s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.778s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.799s] [ext: omni.physx.commands-107.3.26] startup +[2.803s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.803s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:17:21Z [2,784ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.808s] [ext: omni.physx.ui-107.3.26] startup +[2.833s] [ext: isaacsim.core.version-2.0.6] startup +[2.834s] [ext: omni.physics.tensors-107.3.26] startup +[2.838s] [ext: omni.warp.core-1.8.2] startup +[2.997s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.999s] [ext: isaacsim.storage.native-1.5.1] startup +[3.000s] [ext: omni.physx.tensors-107.3.26] startup +[3.005s] [ext: isaacsim.core.utils-3.5.1] startup +[3.007s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.279s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.281s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.283s] [ext: omni.kit.window.stage-2.6.1] startup +[4.286s] [ext: omni.kit.menu.create-2.0.1] startup +[4.287s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.293s] [ext: omni.kit.scripting-107.3.2] startup +[4.296s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.299s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.299s] [ext: omni.graph.tools-1.79.2] startup +[4.318s] [ext: omni.ui_query-1.1.8] startup +[4.318s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.319s] [ext: omni.graph-1.141.2] startup +[4.353s] [ext: omni.graph.action_core-1.1.7] startup +[4.355s] [ext: omni.kit.ui_test-1.3.7] startup +[4.357s] [ext: omni.kit.browser.core-2.3.13] startup +[4.361s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.364s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.368s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.371s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.381s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.385s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.395s] [ext: omni.graph.action-1.130.0] startup +[4.398s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.403s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.410s] [ext: isaacsim.gui.components-1.2.1] startup +[4.421s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.429s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.531s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.536s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.544s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.629s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:17:23Z [4,609ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.635s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.635s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.639s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.645s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.649s] [ext: omni.graph.image.core-0.6.1] startup +[4.651s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.652s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.654s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.658s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.661s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.663s] [ext: omni.graph.nodes-1.170.10] startup +[4.673s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.678s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.683s] [ext: omni.syntheticdata-0.6.13] startup +[4.719s] [ext: omni.videoencoding-0.1.2] startup +[4.725s] [ext: omni.warp-1.8.2] startup +[4.732s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.753s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.757s] [ext: isaacsim.core.prims-0.6.1] startup +[4.791s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.801s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:17:24Z [5,028ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:17:24Z [5,028ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:17:24Z [5,031ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.067s] [ext: isaacsim.core.api-4.8.0] startup +[5.143s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.280s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.305s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.358s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.372s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.413s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.436s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.493s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.519s] [ext: omni.sensors.net-1.0.0] startup +[5.548s] [ext: isaacsim.app.about-2.0.11] startup +[5.561s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.564s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.589s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.611s] [ext: omni.kit.property.audio-1.0.16] startup +[5.630s] [ext: omni.kit.property.camera-1.0.10] startup +[5.644s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.664s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.690s] [ext: omni.kit.property.light-1.0.12] startup +[5.750s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.756s] [ext: omni.kit.selection-0.1.6] startup +[5.766s] [ext: omni.kit.property.material-1.11.9] startup +[6.071s] [ext: omni.kit.property.transform-1.5.13] startup +[6.132s] [ext: omni.kit.property.render-1.2.1] startup +[6.144s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.166s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.436s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.474s] [ext: isaacsim.gui.property-1.1.3] startup +[6.488s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.500s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.543s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.587s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.646s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.679s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.715s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.728s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.733s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.741s] [ext: omni.kit.window.console-1.1.4] startup +[6.765s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.781s] [ext: omni.ocio-0.1.1] startup +[6.788s] [ext: omni.physx.demos-107.3.26] startup +[6.835s] [ext: omni.kit.property.physx-107.3.26] startup +[6.882s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.892s] [ext: omni.asset_validator.core-1.1.6] startup +[6.991s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.999s] [ext: omni.physx.vehicle-107.3.26] startup +[7.026s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.044s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.050s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.059s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.074s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.083s] [ext: omni.physx.camera-107.3.26] startup +[7.097s] [ext: omni.anim.curve.core-1.3.1] startup +[7.123s] [ext: omni.physx.cct-107.3.26] startup +[7.140s] [ext: omni.physx.graph-107.3.26] startup +[7.172s] [ext: omni.physx.supportui-107.3.26] startup +[7.198s] [ext: omni.physx.telemetry-107.3.26] startup +[7.211s] [ext: isaaclab-0.54.3] startup +[7.557s] [ext: isaaclab_contrib-0.0.2] startup +[7.559s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.562s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.567s] [ext: semantics.schema.property-2.0.1] startup +[7.571s] [ext: omni.physx.bundle-107.3.26] startup +[7.574s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.579s] [ext: isaaclab_assets-0.2.4] startup +[7.894s] [ext: isaaclab_tasks-0.11.14] startup +[8.045s] [ext: omni.kit.menu.common-2.0.1] startup +[8.046s] [ext: isaaclab_rl-0.5.0] startup +[8.048s] [ext: isaaclab_mimic-1.0.16] startup +[8.049s] [ext: isaaclab.python-2.3.2] startup +[8.052s] Simulation App Starting +2026-07-24T18:17:27Z [8,094ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:17:27Z [8,098ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:17:27Z [8,098ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:17:27Z [8,098ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:17:27Z [8,121ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T18:17:27Z [8,152ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T18:17:27Z [8,152ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T18:17:27Z [8,152ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[8.187s] app ready +[11.947s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54001 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54001 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-17-46.log +====================================================================================================== + +02:17:46 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 51 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:17:47Z [27,962ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:17:47Z [28,092ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:17:47Z [28,104ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:17:47Z [28,114ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.591778 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:17:47Z [28,127ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,133ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,539ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,540ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,543ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,543ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,543ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +2026-07-24T18:17:47Z [28,544ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5632e45eaab0:World0.usd@ <0x5632f0e49c00>) + +[INFO]: Time taken for simulation start : 0.664892 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:17:55Z [36,759ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:17:59Z [40,361ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:59Z [40,361ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:59Z [40,361ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:17:59Z [40,362ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:18:07Z [48,028ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=1 layout_id=51 variant=389 rng_seed=151389 piece_order=[0, 4, 1, 3, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece0 grasp=left_side arm=left target=cell_2 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=2 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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piece=player_piece1 grasp=far_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=8 +env0 step: 472 / 1100 env0 step: 473 / 1100 env0 step: 474 / 1100 env0 step: 475 / 1100 env0 step: 476 / 1100 env0 step: 477 / 1100 env0 step: 478 / 1100 env0 step: 479 / 1100 env0 step: 480 / 1100 env0 step: 481 / 1100 env0 step: 482 / 1100 env0 step: 483 / 1100 env0 step: 484 / 1100 env0 step: 485 / 1100 env0 step: 486 / 1100 env0 step: 487 / 1100 env0 step: 488 / 1100 env0 step: 489 / 1100 env0 step: 490 / 1100 env0 step: 491 / 1100 env0 step: 492 / 1100 env0 step: 493 / 1100 env0 step: 494 / 1100 env0 step: 495 / 1100 env0 step: 496 / 1100 env0 step: 497 / 1100 env0 step: 498 / 1100 env0 step: 499 / 1100 env0 step: 500 / 1100 env0 step: 501 / 1100 env0 step: 502 / 1100 env0 step: 503 / 1100 env0 step: 504 / 1100 env0 step: 505 / 1100 env0 step: 506 / 1100 env0 step: 507 / 1100 env0 step: 508 / 1100 env0 step: 509 / 1100 env0 step: 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grasp=center arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=left cell=3 +env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 env0 step: 1004 / 1100 env0 step: 1005 / 1100 env0 step: 1006 / 1100 env0 step: 1007 / 1100 env0 step: 1008 / 1100 env0 step: 1009 / 1100 env0 step: 1010 / 1100 env0 step: 1011 / 1100 env0 step: 1012 / 1100 env0 step: 1013 / 1100 env0 step: 1014 / 1100 env0 step: 1015 / 1100 env0 step: 1016 / 1100 env0 step: 1017 / 1100 env0 step: 1018 / 1100 env0 step: 1019 / 1100 env0 step: 1020 / 1100 env0 step: 1021 / 1100 env0 step: 1022 / 1100 env0 step: 1023 / 1100 env0 step: 1024 / 1100 env0 step: 1025 / 1100 env0 step: 1026 / 1100 env0 step: 1027 / 1100 env0 step: 1028 / 1100 env0 step: 1029 / 1100 env0 step: 1030 / 1100 env0 step: 1031 / 1100 env0 step: 1032 / 1100 env0 step: 1033 / 1100 env0 step: 1034 / 1100 env0 step: 1035 / 1100 env0 step: 1036 / 1100 env0 step: 1037 / 1100 env0 step: 1038 / 1100 env0 step: 1039 / 1100 env0 step: 1040 / 1100 env0 step: 1041 / 1100 env0 step: 1042 / 1100 env0 step: 1043 / 1100 env0 step: 1044 / 1100 env0 step: 1045 / 1100 env0 step: 1046 / 1100 env0 step: 1047 / 1100 env0 step: 1048 / 1100 env0 step: 1049 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1049 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-17-16_semantic-w01-s0054-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0054-a000,split=all,layout=51,variant=389,behavior=379/2026-07-25_02-17-16_semantic-w01-s0054-a000/episode_0000000_cam_head_success.mp4`, containing 211 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0054-a000,split=all,layout=51,variant=389,behavior=379/2026-07-25_02-17-16_semantic-w01-s0054-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 211 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0054-a000,split=all,layout=51,variant=389,behavior=379/2026-07-25_02-17-16_semantic-w01-s0054-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 211 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/1_isolated=semantic-w01-s0054-a000,split=all,layout=51,variant=389,behavior=379/_resume_2026-07-25_02-17-16_semantic-w01-s0054-a000.json (eval completed) +2026-07-24T18:21:54Z [275,777ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:21:54Z [275,777ms] [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) +[276.125s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-17-28_semantic-w03-s0054-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-17-28_semantic-w03-s0054-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..c7ce4d49d66f2c02d022b9355142763481e71acb --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-17-28_semantic-w03-s0054-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54003 +[INFO] device_id = 3 → CUDA_VISIBLE_DEVICES=3 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-17-28_semantic-w03-s0054-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_021731.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +[0.171s] [ext: omni.metrics.core-0.0.3] startup +[0.171s] [ext: omni.client.lib-1.1.0] startup +[0.184s] [ext: omni.blobkey-1.1.2] startup +[0.184s] [ext: omni.stats-1.0.1] startup +[0.185s] [ext: omni.datastore-0.0.0] startup +[0.191s] [ext: omni.client-1.3.0] startup +[0.196s] [ext: omni.ujitso.default-1.0.0] startup +[0.197s] [ext: omni.hsscclient-1.1.2] startup +[0.220s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.222s] [ext: omni.assets.plugins-0.0.0] startup +[0.223s] [ext: omni.gpu_foundation-0.0.0] startup +[0.230s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:17:31Z [210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:31Z [210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.231s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:17:31Z [285ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:17:31Z [286ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:17:31Z [286ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:17:31Z [286ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:17:31Z [341ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:17:32Z [1,000ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,000ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,001ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,001ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,002ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,002ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,004ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,004ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,005ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:17:32Z [1,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 512491 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.957s] [ext: omni.materialx.libs-1.0.7] startup +[1.964s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.965s] [ext: omni.kit.test-2.0.1] startup +[2.004s] [ext: omni.kit.pipapi-0.0.0] startup +[2.004s] [ext: omni.usd.config-1.0.6] startup +[2.007s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.007s] [ext: omni.usd.libs-1.0.1] startup +[2.079s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.079s] [ext: omni.mdl-56.0.3] startup +[2.133s] [ext: omni.iray.libs-0.0.0] startup +[2.138s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.140s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.229s] [ext: omni.kit.telemetry-0.5.2] startup +[2.272s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:17:33Z [2,252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:33Z [2,253ms] [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) +[2.275s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:17:33Z [2,271ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:33Z [2,271ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:33Z [2,278ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:33Z [2,278ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.300s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.302s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:17:33Z [2,284ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:33Z [2,284ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:17:33Z [2,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:33Z [2,285ms] [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) +2026-07-24T18:17:33Z [2,286ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:17:33Z [2,286ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.393s] [ext: omni.ui-2.27.1] startup +[2.407s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.408s] [ext: carb.audio-0.1.0] startup +[2.432s] [ext: omni.uiaudio-1.0.0] startup +[2.433s] [ext: omni.kit.uiapp-0.0.0] startup +[2.433s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.437s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.443s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.446s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.449s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.452s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.473s] [ext: omni.usd_resolver-1.0.0] startup +[2.476s] [ext: omni.usd.core-1.5.3] startup +[2.478s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.496s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.502s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.530s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.530s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.531s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.534s] [ext: omni.graph.exec-0.9.6] startup +[2.535s] [ext: omni.kit.actions.core-1.0.0] startup +[2.537s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.537s] [ext: omni.kit.exec.core-0.13.4] startup +[2.538s] [ext: omni.kit.commands-1.4.10] startup +[2.541s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.544s] [ext: omni.activity.core-1.0.3] startup +[2.545s] [ext: omni.resourcemonitor-107.0.1] startup +[2.546s] [ext: omni.timeline-1.0.14] startup +[2.548s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.549s] [ext: usdrt.scenegraph-7.6.1] startup +[2.580s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.581s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.586s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.590s] [ext: omni.usd-1.13.10] startup +[2.610s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.620s] [ext: omni.index.libs-380600.8087.0] startup +[2.620s] [ext: omni.volume-0.5.2] startup +[2.622s] [ext: omni.ujitso.client-0.0.0] startup +[2.622s] [ext: omni.index-1.0.1] startup +[2.623s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.623s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:17:33Z [2,619ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.651s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.653s] [ext: omni.kit.clipboard-1.0.5] startup +[2.653s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.655s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.688s] [ext: omni.kit.menu.core-1.1.2] startup +[2.689s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.691s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.692s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.693s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.694s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.694s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.698s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.699s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.705s] [ext: omni.ui.scene-1.11.5] startup +[2.709s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.709s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.721s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.727s] [ext: omni.kit.context_menu-1.8.6] startup +[2.728s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.732s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.735s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.736s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.737s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.737s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.740s] [ext: omni.kit.material.library-2.0.7] startup +[2.744s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.746s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.747s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.760s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.765s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.769s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.769s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.772s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.776s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.776s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.778s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.779s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.780s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.781s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.786s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.788s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.789s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.790s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.791s] [ext: omni.fabric.commands-1.1.6] startup +[2.793s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.794s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.795s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.796s] [ext: omni.debugdraw-0.1.4] startup +[2.799s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.807s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.808s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.808s] [ext: omni.kvdb-107.3.26] startup +[2.809s] [ext: omni.convexdecomposition-107.3.26] startup +[2.812s] [ext: omni.physx.foundation-107.3.26] startup +[2.813s] [ext: omni.localcache-107.3.26] startup +[2.814s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.815s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.815s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.816s] [ext: omni.usdphysics-107.3.26] startup +[2.817s] [ext: omni.kit.window.file-2.0.5] startup +[2.820s] [ext: omni.physx.cooking-107.3.26] startup +[2.822s] [ext: omni.physics-107.3.26] startup +[2.825s] [ext: omni.kit.window.property-1.12.1] startup +[2.827s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.836s] [ext: omni.physx-107.3.26] startup +[2.844s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.846s] [ext: omni.kit.property.usd-4.5.12] startup +[2.854s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.855s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:17:33Z [2,836ms] [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. +[2.857s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.857s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.868s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.872s] [ext: omni.inspect-1.0.2] startup +[2.873s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.882s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.883s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.889s] [ext: omni.graph.core-2.184.5] startup +[2.891s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.892s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.914s] [ext: omni.physx.commands-107.3.26] startup +[2.918s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.918s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:17:34Z [2,902ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.923s] [ext: omni.physx.ui-107.3.26] startup +[2.949s] [ext: isaacsim.core.version-2.0.6] startup +[2.949s] [ext: omni.physics.tensors-107.3.26] startup +[2.953s] [ext: omni.warp.core-1.8.2] startup +[3.110s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.111s] [ext: isaacsim.storage.native-1.5.1] startup +[3.112s] [ext: omni.physx.tensors-107.3.26] startup +[3.116s] [ext: isaacsim.core.utils-3.5.1] startup +[3.119s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.345s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.346s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.347s] [ext: omni.kit.window.stage-2.6.1] startup +[4.351s] [ext: omni.kit.menu.create-2.0.1] startup +[4.352s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.357s] [ext: omni.kit.scripting-107.3.2] startup +[4.360s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.363s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.363s] [ext: omni.graph.tools-1.79.2] startup +[4.381s] [ext: omni.ui_query-1.1.8] startup +[4.382s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.382s] [ext: omni.graph-1.141.2] startup +[4.417s] [ext: omni.graph.action_core-1.1.7] startup +[4.418s] [ext: omni.kit.ui_test-1.3.7] startup +[4.421s] [ext: omni.kit.browser.core-2.3.13] startup +[4.424s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.428s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.431s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.434s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.445s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.449s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.460s] [ext: omni.graph.action-1.130.0] startup +[4.464s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.467s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.474s] [ext: isaacsim.gui.components-1.2.1] startup +[4.481s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.489s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.626s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.633s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.639s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.722s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:17:35Z [4,711ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.733s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.735s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.738s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.747s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.750s] [ext: omni.graph.image.core-0.6.1] startup +[4.752s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.753s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.755s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.759s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.762s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.764s] [ext: omni.graph.nodes-1.170.10] startup +[4.774s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.780s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.787s] [ext: omni.syntheticdata-0.6.13] startup +[4.824s] [ext: omni.videoencoding-0.1.2] startup +[4.827s] [ext: omni.warp-1.8.2] startup +[4.835s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.855s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.861s] [ext: isaacsim.core.prims-0.6.1] startup +[4.904s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.915s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:17:36Z [5,149ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:17:36Z [5,149ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:17:36Z [5,151ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.179s] [ext: isaacsim.core.api-4.8.0] startup +[5.246s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.326s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.345s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.359s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.370s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.392s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.423s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.458s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.473s] [ext: omni.sensors.net-1.0.0] startup +[5.488s] [ext: isaacsim.app.about-2.0.11] startup +[5.496s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.500s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.510s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.524s] [ext: omni.kit.property.audio-1.0.16] startup +[5.537s] [ext: omni.kit.property.camera-1.0.10] startup +[5.574s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.598s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.610s] [ext: omni.kit.property.light-1.0.12] startup +[5.662s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.667s] [ext: omni.kit.selection-0.1.6] startup +[5.671s] [ext: omni.kit.property.material-1.11.9] startup +[5.706s] [ext: omni.kit.property.transform-1.5.13] startup +[5.723s] [ext: omni.kit.property.render-1.2.1] startup +[5.731s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.737s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.776s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.805s] [ext: isaacsim.gui.property-1.1.3] startup +[5.822s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.836s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.867s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.900s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.997s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.027s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.313s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.519s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.550s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.674s] [ext: omni.kit.window.console-1.1.4] startup +[6.694s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.718s] [ext: omni.ocio-0.1.1] startup +[6.727s] [ext: omni.physx.demos-107.3.26] startup +[6.836s] [ext: omni.kit.property.physx-107.3.26] startup +[6.893s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.905s] [ext: omni.asset_validator.core-1.1.6] startup +[7.004s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.012s] [ext: omni.physx.vehicle-107.3.26] startup +[7.038s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.060s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.067s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.076s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.092s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.100s] [ext: omni.physx.camera-107.3.26] startup +[7.115s] [ext: omni.anim.curve.core-1.3.1] startup +[7.135s] [ext: omni.physx.cct-107.3.26] startup +[7.160s] [ext: omni.physx.graph-107.3.26] startup +[7.184s] [ext: omni.physx.supportui-107.3.26] startup +[7.218s] [ext: omni.physx.telemetry-107.3.26] startup +[7.222s] [ext: isaaclab-0.54.3] startup +[7.580s] [ext: isaaclab_contrib-0.0.2] startup +[7.582s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.585s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.590s] [ext: semantics.schema.property-2.0.1] startup +[7.594s] [ext: omni.physx.bundle-107.3.26] startup +[7.598s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.602s] [ext: isaaclab_assets-0.2.4] startup +[7.931s] [ext: isaaclab_tasks-0.11.14] startup +[8.096s] [ext: omni.kit.menu.common-2.0.1] startup +[8.103s] [ext: isaaclab_rl-0.5.0] startup +[8.106s] [ext: isaaclab_mimic-1.0.16] startup +[8.108s] [ext: isaaclab.python-2.3.2] startup +[8.111s] Simulation App Starting +2026-07-24T18:17:39Z [8,161ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:17:39Z [8,166ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:17:39Z [8,166ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:17:39Z [8,166ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:17:39Z [8,193ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.239s] app ready +[12.187s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54003 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54003 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-17-59.log +====================================================================================================== + +02:17:59 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 52 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:17:59Z [28,809ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:18:00Z [28,943ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:18:00Z [28,956ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:18:00Z [28,966ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.623487 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:18:00Z [28,982ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [28,988ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [29,395ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [29,396ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [29,399ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [29,400ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [29,400ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +2026-07-24T18:18:00Z [29,400ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f1023b7a00:World0.usd@ <0x55f10eba7650>) + +[INFO]: Time taken for simulation start : 0.675141 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:18:09Z [38,250ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:18:09Z [38,744ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:18:09Z [38,745ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:18:09Z [38,745ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:18:09Z [38,745ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:18:20Z [49,532ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=52 variant=391 rng_seed=52391 piece_order=[1, 3, 2, 4, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_2 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=2 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=1 +env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 env0 step: 994 / 1100 env0 step: 995 / 1100 env0 step: 996 / 1100 env0 step: 997 / 1100 env0 step: 998 / 1100 env0 step: 999 / 1100 env0 step: 1000 / 1100 env0 step: 1001 / 1100 env0 step: 1002 / 1100 env0 step: 1003 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=1003 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-17-28_semantic-w03-s0054-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0054-a000,split=all,layout=52,variant=391,behavior=381/2026-07-25_02-17-28_semantic-w03-s0054-a000/episode_0000000_cam_head_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0054-a000,split=all,layout=52,variant=391,behavior=381/2026-07-25_02-17-28_semantic-w03-s0054-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0054-a000,split=all,layout=52,variant=391,behavior=381/2026-07-25_02-17-28_semantic-w03-s0054-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 202 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w03-s0054-a000,split=all,layout=52,variant=391,behavior=381/_resume_2026-07-25_02-17-28_semantic-w03-s0054-a000.json (eval completed) +2026-07-24T18:21:50Z [259,703ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:21:50Z [259,703ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[260.052s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-20-19_semantic-w02-s0055-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-20-19_semantic-w02-s0055-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..33be07d6e99ae96a17a25a33785139563a794055 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-20-19_semantic-w02-s0055-a000.log @@ -0,0 +1,482 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54002 +[INFO] device_id = 2 → CUDA_VISIBLE_DEVICES=2 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-20-19_semantic-w02-s0055-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_022022.log +[0.054s] [ext: omni.kit.async_engine-0.0.3] startup +[0.170s] [ext: omni.metrics.core-0.0.3] startup +[0.170s] [ext: omni.client.lib-1.1.0] startup +[0.182s] [ext: omni.blobkey-1.1.2] startup +[0.182s] [ext: omni.stats-1.0.1] startup +[0.183s] [ext: omni.datastore-0.0.0] startup +[0.188s] [ext: omni.client-1.3.0] startup +[0.193s] [ext: omni.ujitso.default-1.0.0] startup +[0.194s] [ext: omni.hsscclient-1.1.2] startup +[0.227s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.229s] [ext: omni.assets.plugins-0.0.0] startup +[0.230s] [ext: omni.gpu_foundation-0.0.0] startup +[0.236s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:20:22Z [216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:22Z [216ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.237s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:20:22Z [283ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:20:22Z [287ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:20:22Z [287ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:20:22Z [287ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:20:22Z [335ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:20:23Z [1,077ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,077ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,077ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,077ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,079ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,079ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,086ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,086ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,087ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,087ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:20:23Z [1,088ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 507977 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.906s] [ext: omni.materialx.libs-1.0.7] startup +[1.912s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.913s] [ext: omni.kit.test-2.0.1] startup +[1.951s] [ext: omni.kit.pipapi-0.0.0] startup +[1.952s] [ext: omni.usd.config-1.0.6] startup +[1.955s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.955s] [ext: omni.usd.libs-1.0.1] startup +[2.029s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.029s] [ext: omni.mdl-56.0.3] startup +[2.087s] [ext: omni.iray.libs-0.0.0] startup +[2.092s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.095s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.177s] [ext: omni.kit.telemetry-0.5.2] startup +[2.212s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:20:24Z [2,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:24Z [2,192ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.215s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:20:24Z [2,210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:24Z [2,210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:20:24Z [2,218ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:24Z [2,218ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.241s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.243s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:20:24Z [2,225ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:24Z [2,225ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:20:24Z [2,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:24Z [2,226ms] [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) +2026-07-24T18:20:24Z [2,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:20:24Z [2,226ms] [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) +[2.331s] [ext: omni.ui-2.27.1] startup +[2.339s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.340s] [ext: carb.audio-0.1.0] startup +[2.366s] [ext: omni.uiaudio-1.0.0] startup +[2.367s] [ext: omni.kit.uiapp-0.0.0] startup +[2.367s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.369s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.374s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.376s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.378s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.380s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.396s] [ext: omni.usd_resolver-1.0.0] startup +[2.399s] [ext: omni.usd.core-1.5.3] startup +[2.401s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.418s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.424s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.452s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.452s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.453s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.456s] [ext: omni.graph.exec-0.9.6] startup +[2.457s] [ext: omni.kit.actions.core-1.0.0] startup +[2.458s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.459s] [ext: omni.kit.exec.core-0.13.4] startup +[2.460s] [ext: omni.kit.commands-1.4.10] startup +[2.463s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.466s] [ext: omni.activity.core-1.0.3] startup +[2.467s] [ext: omni.resourcemonitor-107.0.1] startup +[2.468s] [ext: omni.timeline-1.0.14] startup +[2.470s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.471s] [ext: usdrt.scenegraph-7.6.1] startup +[2.502s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.503s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.508s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.512s] [ext: omni.usd-1.13.10] startup +[2.532s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.541s] [ext: omni.index.libs-380600.8087.0] startup +[2.541s] [ext: omni.volume-0.5.2] startup +[2.543s] [ext: omni.ujitso.client-0.0.0] startup +[2.544s] [ext: omni.index-1.0.1] startup +[2.544s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.545s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:20:24Z [2,539ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.572s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.573s] [ext: omni.kit.clipboard-1.0.5] startup +[2.574s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.576s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.611s] [ext: omni.kit.menu.core-1.1.2] startup +[2.612s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.614s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.615s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.616s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.617s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.617s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.621s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.621s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.628s] [ext: omni.ui.scene-1.11.5] startup +[2.631s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.631s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.643s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.648s] [ext: omni.kit.context_menu-1.8.6] startup +[2.649s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.653s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.656s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.658s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.660s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.661s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.664s] [ext: omni.kit.material.library-2.0.7] startup +[2.668s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.670s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.671s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.684s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.688s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.692s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.693s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.696s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.699s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.700s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.701s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.703s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.704s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.705s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.710s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.712s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.713s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.714s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.715s] [ext: omni.fabric.commands-1.1.6] startup +[2.717s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.718s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.719s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.720s] [ext: omni.debugdraw-0.1.4] startup +[2.723s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.731s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.732s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.732s] [ext: omni.kvdb-107.3.26] startup +[2.733s] [ext: omni.convexdecomposition-107.3.26] startup +[2.735s] [ext: omni.physx.foundation-107.3.26] startup +[2.737s] [ext: omni.localcache-107.3.26] startup +[2.738s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.738s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.739s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.739s] [ext: omni.usdphysics-107.3.26] startup +[2.741s] [ext: omni.kit.window.file-2.0.5] startup +[2.743s] [ext: omni.physx.cooking-107.3.26] startup +[2.746s] [ext: omni.physics-107.3.26] startup +[2.748s] [ext: omni.kit.window.property-1.12.1] startup +[2.750s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.759s] [ext: omni.physx-107.3.26] startup +[2.767s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.769s] [ext: omni.kit.property.usd-4.5.12] startup +[2.777s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.778s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:20:24Z [2,758ms] [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. +[2.779s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.780s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.790s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.794s] [ext: omni.inspect-1.0.2] startup +[2.795s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.803s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.804s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.809s] [ext: omni.graph.core-2.184.5] startup +[2.812s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.813s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.834s] [ext: omni.physx.commands-107.3.26] startup +[2.838s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.838s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:20:24Z [2,821ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.843s] [ext: omni.physx.ui-107.3.26] startup +[2.868s] [ext: isaacsim.core.version-2.0.6] startup +[2.869s] [ext: omni.physics.tensors-107.3.26] startup +[2.872s] [ext: omni.warp.core-1.8.2] startup +[3.029s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.031s] [ext: isaacsim.storage.native-1.5.1] startup +[3.032s] [ext: omni.physx.tensors-107.3.26] startup +[3.036s] [ext: isaacsim.core.utils-3.5.1] startup +[3.038s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.321s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.322s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.323s] [ext: omni.kit.window.stage-2.6.1] startup +[4.327s] [ext: omni.kit.menu.create-2.0.1] startup +[4.329s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.333s] [ext: omni.kit.scripting-107.3.2] startup +[4.337s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.339s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.340s] [ext: omni.graph.tools-1.79.2] startup +[4.360s] [ext: omni.ui_query-1.1.8] startup +[4.360s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.361s] [ext: omni.graph-1.141.2] startup +[4.397s] [ext: omni.graph.action_core-1.1.7] startup +[4.398s] [ext: omni.kit.ui_test-1.3.7] startup +[4.401s] [ext: omni.kit.browser.core-2.3.13] startup +[4.404s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.407s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.411s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.414s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.427s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.431s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.444s] [ext: omni.graph.action-1.130.0] startup +[4.446s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.453s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.467s] [ext: isaacsim.gui.components-1.2.1] startup +[4.479s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.491s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.613s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.621s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.630s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.730s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:20:26Z [4,718ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.741s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.742s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.746s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.754s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.758s] [ext: omni.graph.image.core-0.6.1] startup +[4.761s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.762s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.764s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.769s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.772s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.774s] [ext: omni.graph.nodes-1.170.10] startup +[4.785s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.791s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.797s] [ext: omni.syntheticdata-0.6.13] startup +[4.833s] [ext: omni.videoencoding-0.1.2] startup +[4.839s] [ext: omni.warp-1.8.2] startup +[4.846s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.868s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.872s] [ext: isaacsim.core.prims-0.6.1] startup +[4.917s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.928s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:20:27Z [5,080ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:20:27Z [5,080ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:20:27Z [5,083ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.112s] [ext: isaacsim.core.api-4.8.0] startup +[5.219s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.282s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.295s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.312s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.327s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.358s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.377s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.403s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.416s] [ext: omni.sensors.net-1.0.0] startup +[5.424s] [ext: isaacsim.app.about-2.0.11] startup +[5.442s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.443s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.448s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.458s] [ext: omni.kit.property.audio-1.0.16] startup +[5.476s] [ext: omni.kit.property.camera-1.0.10] startup +[5.480s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.513s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.552s] [ext: omni.kit.property.light-1.0.12] startup +[5.628s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.635s] [ext: omni.kit.selection-0.1.6] startup +[5.662s] [ext: omni.kit.property.material-1.11.9] startup +[6.047s] [ext: omni.kit.property.transform-1.5.13] startup +[6.091s] [ext: omni.kit.property.render-1.2.1] startup +[6.109s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.123s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.168s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.207s] [ext: isaacsim.gui.property-1.1.3] startup +[6.219s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.228s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.266s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.289s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.342s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.367s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.381s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.392s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.397s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.417s] [ext: omni.kit.window.console-1.1.4] startup +[6.432s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.447s] [ext: omni.ocio-0.1.1] startup +[6.454s] [ext: omni.physx.demos-107.3.26] startup +[6.508s] [ext: omni.kit.property.physx-107.3.26] startup +[6.553s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.563s] [ext: omni.asset_validator.core-1.1.6] startup +[6.663s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.673s] [ext: omni.physx.vehicle-107.3.26] startup +[6.698s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.713s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.720s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.732s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.746s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.754s] [ext: omni.physx.camera-107.3.26] startup +[6.770s] [ext: omni.anim.curve.core-1.3.1] startup +[6.797s] [ext: omni.physx.cct-107.3.26] startup +[6.815s] [ext: omni.physx.graph-107.3.26] startup +[6.838s] [ext: omni.physx.supportui-107.3.26] startup +[6.877s] [ext: omni.physx.telemetry-107.3.26] startup +[6.888s] [ext: isaaclab-0.54.3] startup +[7.243s] [ext: isaaclab_contrib-0.0.2] startup +[7.246s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.248s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.255s] [ext: semantics.schema.property-2.0.1] startup +[7.259s] [ext: omni.physx.bundle-107.3.26] startup +[7.262s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.269s] [ext: isaaclab_assets-0.2.4] startup +[7.606s] [ext: isaaclab_tasks-0.11.14] startup +[7.762s] [ext: omni.kit.menu.common-2.0.1] startup +[7.765s] [ext: isaaclab_rl-0.5.0] startup +[7.768s] [ext: isaaclab_mimic-1.0.16] startup +[7.769s] [ext: isaaclab.python-2.3.2] startup +[7.773s] Simulation App Starting +2026-07-24T18:20:30Z [7,834ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:20:30Z [7,834ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:20:30Z [7,834ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:20:30Z [7,860ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.909s] app ready +[11.664s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54002 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54002 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-20-48.log +====================================================================================================== + +02:20:48 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 54 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:20:49Z [27,027ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:20:49Z [27,156ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:20:49Z [27,169ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:20:49Z [27,178ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.603307 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:20:49Z [27,191ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,196ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,593ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,593ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,596ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,596ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,597ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +2026-07-24T18:20:49Z [27,597ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f80b86d290:World0.usd@ <0x55f81805dd30>) + +[INFO]: Time taken for simulation start : 0.653971 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:20:58Z [36,471ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:20:59Z [37,012ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:20:59Z [37,012ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:20:59Z [37,012ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:20:59Z [37,012ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:21:09Z [47,669ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=54 variant=397 rng_seed=54397 piece_order=[1, 2, 3, 4, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_8 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=8 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 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completed +[curobo-data] VALID demos=1 steps=985 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-20-19_semantic-w02-s0055-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0055-a000,split=all,layout=54,variant=397,behavior=387/2026-07-25_02-20-19_semantic-w02-s0055-a000/episode_0000000_cam_head_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0055-a000,split=all,layout=54,variant=397,behavior=387/2026-07-25_02-20-19_semantic-w02-s0055-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0055-a000,split=all,layout=54,variant=397,behavior=387/2026-07-25_02-20-19_semantic-w02-s0055-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w02-s0055-a000,split=all,layout=54,variant=397,behavior=387/_resume_2026-07-25_02-20-19_semantic-w02-s0055-a000.json (eval completed) +2026-07-24T18:24:41Z [259,413ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:24:41Z [259,413ms] [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) +[259.764s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-21-57_semantic-w01-s0055-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-21-57_semantic-w01-s0055-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..4559e2ae1a54da645e3adcb3f557ee9d42d28d8a --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-21-57_semantic-w01-s0055-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54001 +[INFO] device_id = 1 → CUDA_VISIBLE_DEVICES=1 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-21-57_semantic-w01-s0055-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_022159.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.168s] [ext: omni.metrics.core-0.0.3] startup +[0.169s] [ext: omni.client.lib-1.1.0] startup +[0.181s] [ext: omni.blobkey-1.1.2] startup +[0.181s] [ext: omni.stats-1.0.1] startup +[0.182s] [ext: omni.datastore-0.0.0] startup +[0.187s] [ext: omni.client-1.3.0] startup +[0.192s] [ext: omni.ujitso.default-1.0.0] startup +[0.194s] [ext: omni.hsscclient-1.1.2] startup +[0.217s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.218s] [ext: omni.assets.plugins-0.0.0] startup +[0.219s] [ext: omni.gpu_foundation-0.0.0] startup +[0.226s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:21:59Z [206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:21:59Z [206ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.227s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:21:59Z [281ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:21:59Z [286ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:21:59Z [286ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:21:59Z [286ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:21:59Z [339ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:22:00Z [1,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,051ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,051ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,052ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,052ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,053ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,053ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,054ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,054ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:00Z [1,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 514491 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.895s] [ext: omni.materialx.libs-1.0.7] startup +[1.902s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.903s] [ext: omni.kit.test-2.0.1] startup +[1.942s] [ext: omni.kit.pipapi-0.0.0] startup +[1.942s] [ext: omni.usd.config-1.0.6] startup +[1.945s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.945s] [ext: omni.usd.libs-1.0.1] startup +[2.020s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.020s] [ext: omni.mdl-56.0.3] startup +[2.078s] [ext: omni.iray.libs-0.0.0] startup +[2.083s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.085s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.171s] [ext: omni.kit.telemetry-0.5.2] startup +[2.222s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:22:01Z [2,202ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:01Z [2,203ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.226s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:22:01Z [2,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:01Z [2,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:22:01Z [2,231ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:01Z [2,231ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.253s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.256s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:22:01Z [2,238ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:01Z [2,239ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:22:01Z [2,240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:01Z [2,240ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:22:01Z [2,241ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:01Z [2,241ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.353s] [ext: omni.ui-2.27.1] startup +[2.364s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.366s] [ext: carb.audio-0.1.0] startup +[2.396s] [ext: omni.uiaudio-1.0.0] startup +[2.397s] [ext: omni.kit.uiapp-0.0.0] startup +[2.397s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.400s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.408s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.411s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.414s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.417s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.440s] [ext: omni.usd_resolver-1.0.0] startup +[2.444s] [ext: omni.usd.core-1.5.3] startup +[2.447s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.470s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.478s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.508s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.509s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.510s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.514s] [ext: omni.graph.exec-0.9.6] startup +[2.515s] [ext: omni.kit.actions.core-1.0.0] startup +[2.517s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.517s] [ext: omni.kit.exec.core-0.13.4] startup +[2.519s] [ext: omni.kit.commands-1.4.10] startup +[2.522s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.526s] [ext: omni.activity.core-1.0.3] startup +[2.527s] [ext: omni.resourcemonitor-107.0.1] startup +[2.528s] [ext: omni.timeline-1.0.14] startup +[2.530s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.532s] [ext: usdrt.scenegraph-7.6.1] startup +[2.566s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.568s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.574s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.578s] [ext: omni.usd-1.13.10] startup +[2.601s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.611s] [ext: omni.index.libs-380600.8087.0] startup +[2.611s] [ext: omni.volume-0.5.2] startup +[2.613s] [ext: omni.ujitso.client-0.0.0] startup +[2.614s] [ext: omni.index-1.0.1] startup +[2.615s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.616s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:22:02Z [2,612ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.647s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.648s] [ext: omni.kit.clipboard-1.0.5] startup +[2.649s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.651s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.712s] [ext: omni.kit.menu.core-1.1.2] startup +[2.713s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.715s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.716s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.717s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.718s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.718s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.723s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.723s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.730s] [ext: omni.ui.scene-1.11.5] startup +[2.733s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.734s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.746s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.751s] [ext: omni.kit.context_menu-1.8.6] startup +[2.753s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.756s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.759s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.761s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.761s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.762s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.765s] [ext: omni.kit.material.library-2.0.7] startup +[2.768s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.771s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.773s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.787s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.791s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.795s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.796s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.799s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.803s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.804s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.806s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.807s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.808s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.809s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.814s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.816s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.817s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.818s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.819s] [ext: omni.fabric.commands-1.1.6] startup +[2.822s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.822s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.823s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.824s] [ext: omni.debugdraw-0.1.4] startup +[2.827s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.836s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.837s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.837s] [ext: omni.kvdb-107.3.26] startup +[2.838s] [ext: omni.convexdecomposition-107.3.26] startup +[2.840s] [ext: omni.physx.foundation-107.3.26] startup +[2.842s] [ext: omni.localcache-107.3.26] startup +[2.843s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.843s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.844s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.844s] [ext: omni.usdphysics-107.3.26] startup +[2.846s] [ext: omni.kit.window.file-2.0.5] startup +[2.848s] [ext: omni.physx.cooking-107.3.26] startup +[2.851s] [ext: omni.physics-107.3.26] startup +[2.853s] [ext: omni.kit.window.property-1.12.1] startup +[2.856s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.865s] [ext: omni.physx-107.3.26] startup +[2.873s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.875s] [ext: omni.kit.property.usd-4.5.12] startup +[2.883s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.884s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:22:02Z [2,865ms] [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. +[2.886s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.886s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.897s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.900s] [ext: omni.inspect-1.0.2] startup +[2.901s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.911s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.912s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.917s] [ext: omni.graph.core-2.184.5] startup +[2.920s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.921s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.942s] [ext: omni.physx.commands-107.3.26] startup +[2.947s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.947s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:22:02Z [2,931ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.952s] [ext: omni.physx.ui-107.3.26] startup +[2.978s] [ext: isaacsim.core.version-2.0.6] startup +[2.978s] [ext: omni.physics.tensors-107.3.26] startup +[2.982s] [ext: omni.warp.core-1.8.2] startup +[3.139s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.141s] [ext: isaacsim.storage.native-1.5.1] startup +[3.142s] [ext: omni.physx.tensors-107.3.26] startup +[3.146s] [ext: isaacsim.core.utils-3.5.1] startup +[3.149s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.517s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.518s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.520s] [ext: omni.kit.window.stage-2.6.1] startup +[4.527s] [ext: omni.kit.menu.create-2.0.1] startup +[4.528s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.534s] [ext: omni.kit.scripting-107.3.2] startup +[4.538s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.541s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.542s] [ext: omni.graph.tools-1.79.2] startup +[4.561s] [ext: omni.ui_query-1.1.8] startup +[4.561s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.562s] [ext: omni.graph-1.141.2] startup +[4.600s] [ext: omni.graph.action_core-1.1.7] startup +[4.602s] [ext: omni.kit.ui_test-1.3.7] startup +[4.604s] [ext: omni.kit.browser.core-2.3.13] startup +[4.608s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.611s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.616s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.619s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.632s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.636s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.649s] [ext: omni.graph.action-1.130.0] startup +[4.653s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.657s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.665s] [ext: isaacsim.gui.components-1.2.1] startup +[4.673s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.684s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.788s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.794s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.802s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.886s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:22:04Z [4,868ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.891s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.893s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.897s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.905s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.908s] [ext: omni.graph.image.core-0.6.1] startup +[4.909s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.911s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.912s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.917s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.919s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.922s] [ext: omni.graph.nodes-1.170.10] startup +[4.933s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.940s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.946s] [ext: omni.syntheticdata-0.6.13] startup +[4.982s] [ext: omni.videoencoding-0.1.2] startup +[4.987s] [ext: omni.warp-1.8.2] startup +[4.997s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.018s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.024s] [ext: isaacsim.core.prims-0.6.1] startup +[5.112s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.140s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:22:04Z [5,288ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:22:04Z [5,288ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:22:04Z [5,294ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.332s] [ext: isaacsim.core.api-4.8.0] startup +[5.378s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.444s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.455s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.469s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.483s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.508s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.519s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.535s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.545s] [ext: omni.sensors.net-1.0.0] startup +[5.550s] [ext: isaacsim.app.about-2.0.11] startup +[5.565s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.567s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.579s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.623s] [ext: omni.kit.property.audio-1.0.16] startup +[5.705s] [ext: omni.kit.property.camera-1.0.10] startup +[5.740s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.907s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.955s] [ext: omni.kit.property.light-1.0.12] startup +[6.028s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.042s] [ext: omni.kit.selection-0.1.6] startup +[6.100s] [ext: omni.kit.property.material-1.11.9] startup +[6.381s] [ext: omni.kit.property.transform-1.5.13] startup +[6.413s] [ext: omni.kit.property.render-1.2.1] startup +[6.429s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.445s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.496s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.527s] [ext: isaacsim.gui.property-1.1.3] startup +[6.535s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.542s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.565s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.585s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.628s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.652s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.678s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.689s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.694s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.721s] [ext: omni.kit.window.console-1.1.4] startup +[6.738s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.756s] [ext: omni.ocio-0.1.1] startup +[6.763s] [ext: omni.physx.demos-107.3.26] startup +[6.813s] [ext: omni.kit.property.physx-107.3.26] startup +[6.863s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.873s] [ext: omni.asset_validator.core-1.1.6] startup +[6.972s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.981s] [ext: omni.physx.vehicle-107.3.26] startup +[7.006s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.022s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.029s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.038s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.052s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.060s] [ext: omni.physx.camera-107.3.26] startup +[7.074s] [ext: omni.anim.curve.core-1.3.1] startup +[7.097s] [ext: omni.physx.cct-107.3.26] startup +[7.118s] [ext: omni.physx.graph-107.3.26] startup +[7.140s] [ext: omni.physx.supportui-107.3.26] startup +[7.170s] [ext: omni.physx.telemetry-107.3.26] startup +[7.181s] [ext: isaaclab-0.54.3] startup +[7.536s] [ext: isaaclab_contrib-0.0.2] startup +[7.538s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.541s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.546s] [ext: semantics.schema.property-2.0.1] startup +[7.549s] [ext: omni.physx.bundle-107.3.26] startup +[7.552s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.557s] [ext: isaaclab_assets-0.2.4] startup +[7.863s] [ext: isaaclab_tasks-0.11.14] startup +[8.015s] [ext: omni.kit.menu.common-2.0.1] startup +[8.017s] [ext: isaaclab_rl-0.5.0] startup +[8.020s] [ext: isaaclab_mimic-1.0.16] startup +[8.022s] [ext: isaaclab.python-2.3.2] startup +[8.025s] Simulation App Starting +2026-07-24T18:22:07Z [8,070ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:22:07Z [8,074ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:22:07Z [8,074ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:22:07Z [8,074ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:22:07Z [8,100ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.146s] app ready +[12.160s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54001 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54001 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-22-26.log +====================================================================================================== + +02:22:26 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 53 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:22:27Z [27,733ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:22:27Z [27,842ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:22:27Z [27,855ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:22:27Z [27,864ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.571904 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:22:27Z [27,876ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [27,882ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [28,286ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [28,286ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [28,289ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [28,289ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [28,289ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +2026-07-24T18:22:27Z [28,290ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x558cd6871780:World0.usd@ <0x558ce30a00f0>) + +[INFO]: Time taken for simulation start : 0.662781 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:22:36Z [36,998ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:22:40Z [41,346ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:40Z [41,346ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:40Z [41,346ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:40Z [41,346ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:48Z [48,409ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=53 variant=396 rng_seed=253396 piece_order=[4, 3, 1, 2, 0] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=0 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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+[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=1 +env0 step: 468 / 1100 env0 step: 469 / 1100 env0 step: 470 / 1100 env0 step: 471 / 1100 env0 step: 472 / 1100 env0 step: 473 / 1100 env0 step: 474 / 1100 env0 step: 475 / 1100 env0 step: 476 / 1100 env0 step: 477 / 1100 env0 step: 478 / 1100 env0 step: 479 / 1100 env0 step: 480 / 1100 env0 step: 481 / 1100 env0 step: 482 / 1100 env0 step: 483 / 1100 env0 step: 484 / 1100 env0 step: 485 / 1100 env0 step: 486 / 1100 env0 step: 487 / 1100 env0 step: 488 / 1100 env0 step: 489 / 1100 env0 step: 490 / 1100 env0 step: 491 / 1100 env0 step: 492 / 1100 env0 step: 493 / 1100 env0 step: 494 / 1100 env0 step: 495 / 1100 env0 step: 496 / 1100 env0 step: 497 / 1100 env0 step: 498 / 1100 env0 step: 499 / 1100 env0 step: 500 / 1100 env0 step: 501 / 1100 env0 step: 502 / 1100 env0 step: 503 / 1100 env0 step: 504 / 1100 env0 step: 505 / 1100 env0 step: 506 / 1100 env0 step: 507 / 1100 env0 step: 508 / 1100 env0 step: 509 / 1100 env0 step: 510 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env0 step: 647 / 1100 env0 step: 648 / 1100 env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[5, 7, 8] +[curobo-ttt] semantic move=4/5 piece=player_piece2 grasp=far_side arm=right target=cell_5 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=5 +env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 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env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[7] +[curobo-ttt] semantic move=5/5 piece=player_piece0 grasp=left_side arm=left target=cell_7 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=7 +env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 897 / 1100 env0 step: 898 / 1100 env0 step: 899 / 1100 env0 step: 900 / 1100 env0 step: 901 / 1100 env0 step: 902 / 1100 env0 step: 903 / 1100 env0 step: 904 / 1100 env0 step: 905 / 1100 env0 step: 906 / 1100 env0 step: 907 / 1100 env0 step: 908 / 1100 env0 step: 909 / 1100 env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=984 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-21-57_semantic-w01-s0055-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0055-a000,split=all,layout=53,variant=396,behavior=386/2026-07-25_02-21-57_semantic-w01-s0055-a000/episode_0000000_cam_head_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0055-a000,split=all,layout=53,variant=396,behavior=386/2026-07-25_02-21-57_semantic-w01-s0055-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0055-a000,split=all,layout=53,variant=396,behavior=386/2026-07-25_02-21-57_semantic-w01-s0055-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 198 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w01-s0055-a000,split=all,layout=53,variant=396,behavior=386/_resume_2026-07-25_02-21-57_semantic-w01-s0055-a000.json (eval completed) +2026-07-24T18:26:14Z [254,457ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:14Z [254,457ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[254.809s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-22-19_semantic-w04-s0055-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-22-19_semantic-w04-s0055-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..d741185b9133c456a8f4f613da360fcec74f0ba1 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-22-19_semantic-w04-s0055-a000.log @@ -0,0 +1,486 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54004 +[INFO] device_id = 4 → CUDA_VISIBLE_DEVICES=4 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-22-19_semantic-w04-s0055-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_022221.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +[0.167s] [ext: omni.metrics.core-0.0.3] startup +[0.167s] [ext: omni.client.lib-1.1.0] startup +[0.179s] [ext: omni.blobkey-1.1.2] startup +[0.179s] [ext: omni.stats-1.0.1] startup +[0.180s] [ext: omni.datastore-0.0.0] startup +[0.185s] [ext: omni.client-1.3.0] startup +[0.190s] [ext: omni.ujitso.default-1.0.0] startup +[0.191s] [ext: omni.hsscclient-1.1.2] startup +[0.212s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.214s] [ext: omni.assets.plugins-0.0.0] startup +[0.215s] [ext: omni.gpu_foundation-0.0.0] startup +[0.221s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:22:22Z [201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:22Z [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) +[0.222s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:22:22Z [274ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:22:22Z [280ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:22:22Z [280ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:22:22Z [280ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:22:22Z [313ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:22:22Z [976ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [976ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [981ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [981ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [983ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [983ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [986ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [986ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:22:22Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 517870 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.719s] [ext: omni.materialx.libs-1.0.7] startup +[1.726s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.727s] [ext: omni.kit.test-2.0.1] startup +[1.766s] [ext: omni.kit.pipapi-0.0.0] startup +[1.767s] [ext: omni.usd.config-1.0.6] startup +[1.769s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.770s] [ext: omni.usd.libs-1.0.1] startup +[1.842s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.842s] [ext: omni.mdl-56.0.3] startup +[1.897s] [ext: omni.iray.libs-0.0.0] startup +[1.902s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.905s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.994s] [ext: omni.kit.telemetry-0.5.2] startup +[2.018s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:22:23Z [1,999ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:23Z [1,999ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.021s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:22:23Z [2,015ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:23Z [2,015ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:22:23Z [2,023ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:23Z [2,023ms] [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) +[2.045s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.047s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:22:23Z [2,029ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:23Z [2,029ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:22:23Z [2,030ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:23Z [2,030ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:22:23Z [2,031ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:22:23Z [2,031ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.141s] [ext: omni.ui-2.27.1] startup +[2.149s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.150s] [ext: carb.audio-0.1.0] startup +[2.176s] [ext: omni.uiaudio-1.0.0] startup +[2.177s] [ext: omni.kit.uiapp-0.0.0] startup +[2.177s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.180s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.185s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.187s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.190s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.192s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.209s] [ext: omni.usd_resolver-1.0.0] startup +[2.213s] [ext: omni.usd.core-1.5.3] startup +[2.216s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.236s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.243s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.273s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.274s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.274s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.278s] [ext: omni.graph.exec-0.9.6] startup +[2.278s] [ext: omni.kit.actions.core-1.0.0] startup +[2.280s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.280s] [ext: omni.kit.exec.core-0.13.4] startup +[2.282s] [ext: omni.kit.commands-1.4.10] startup +[2.285s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.288s] [ext: omni.activity.core-1.0.3] startup +[2.289s] [ext: omni.resourcemonitor-107.0.1] startup +[2.291s] [ext: omni.timeline-1.0.14] startup +[2.292s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.294s] [ext: usdrt.scenegraph-7.6.1] startup +[2.325s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.326s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.332s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.335s] [ext: omni.usd-1.13.10] startup +[2.356s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.370s] [ext: omni.index.libs-380600.8087.0] startup +[2.371s] [ext: omni.volume-0.5.2] startup +[2.373s] [ext: omni.ujitso.client-0.0.0] startup +[2.373s] [ext: omni.index-1.0.1] startup +[2.373s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.374s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:22:24Z [2,369ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.401s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.403s] [ext: omni.kit.clipboard-1.0.5] startup +[2.403s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.405s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.409s] [ext: omni.kit.menu.core-1.1.2] startup +[2.410s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.412s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.413s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.414s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.415s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.415s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.419s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.420s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.426s] [ext: omni.ui.scene-1.11.5] startup +[2.430s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.430s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.442s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.448s] [ext: omni.kit.context_menu-1.8.6] startup +[2.449s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.453s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.456s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.457s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.458s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.458s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.461s] [ext: omni.kit.material.library-2.0.7] startup +[2.465s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.467s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.469s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.481s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.484s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.488s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.489s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.492s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.497s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.500s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.504s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.505s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.506s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.506s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.512s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.514s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.514s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.516s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.517s] [ext: omni.fabric.commands-1.1.6] startup +[2.519s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.520s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.521s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.522s] [ext: omni.debugdraw-0.1.4] startup +[2.525s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.534s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.535s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.535s] [ext: omni.kvdb-107.3.26] startup +[2.536s] [ext: omni.convexdecomposition-107.3.26] startup +[2.538s] [ext: omni.physx.foundation-107.3.26] startup +[2.539s] [ext: omni.localcache-107.3.26] startup +[2.541s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.541s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.541s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.542s] [ext: omni.usdphysics-107.3.26] startup +[2.544s] [ext: omni.kit.window.file-2.0.5] startup +[2.546s] [ext: omni.physx.cooking-107.3.26] startup +[2.548s] [ext: omni.physics-107.3.26] startup +[2.551s] [ext: omni.kit.window.property-1.12.1] startup +[2.553s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.562s] [ext: omni.physx-107.3.26] startup +[2.571s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.572s] [ext: omni.kit.property.usd-4.5.12] startup +[2.581s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.582s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:22:24Z [2,563ms] [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. +[2.583s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.584s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.595s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.598s] [ext: omni.inspect-1.0.2] startup +[2.599s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.609s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.610s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.615s] [ext: omni.graph.core-2.184.5] startup +[2.617s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.618s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.640s] [ext: omni.physx.commands-107.3.26] startup +[2.644s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.645s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:22:24Z [2,629ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.650s] [ext: omni.physx.ui-107.3.26] startup +[2.676s] [ext: isaacsim.core.version-2.0.6] startup +[2.676s] [ext: omni.physics.tensors-107.3.26] startup +[2.680s] [ext: omni.warp.core-1.8.2] startup +[2.837s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.838s] [ext: isaacsim.storage.native-1.5.1] startup +[2.840s] [ext: omni.physx.tensors-107.3.26] startup +[2.844s] [ext: isaacsim.core.utils-3.5.1] startup +[2.846s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.102s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.103s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.104s] [ext: omni.kit.window.stage-2.6.1] startup +[4.109s] [ext: omni.kit.menu.create-2.0.1] startup +[4.110s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.115s] [ext: omni.kit.scripting-107.3.2] startup +[4.119s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.122s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.123s] [ext: omni.graph.tools-1.79.2] startup +[4.141s] [ext: omni.ui_query-1.1.8] startup +[4.142s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.142s] [ext: omni.graph-1.141.2] startup +[4.179s] [ext: omni.graph.action_core-1.1.7] startup +[4.181s] [ext: omni.kit.ui_test-1.3.7] startup +[4.184s] [ext: omni.kit.browser.core-2.3.13] startup +[4.188s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.190s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.194s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.197s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.209s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.212s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.223s] [ext: omni.graph.action-1.130.0] startup +[4.227s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.230s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.238s] [ext: isaacsim.gui.components-1.2.1] startup +[4.244s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.252s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.384s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.389s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.394s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.455s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:22:26Z [4,438ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.460s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.461s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.464s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.469s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.471s] [ext: omni.graph.image.core-0.6.1] startup +[4.472s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.473s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.474s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.475s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.477s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.478s] [ext: omni.graph.nodes-1.170.10] startup +[4.486s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.489s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.492s] [ext: omni.syntheticdata-0.6.13] startup +[4.516s] [ext: omni.videoencoding-0.1.2] startup +[4.518s] [ext: omni.warp-1.8.2] startup +[4.526s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.553s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.560s] [ext: isaacsim.core.prims-0.6.1] startup +[4.598s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.607s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:22:26Z [4,786ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:22:26Z [4,786ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:22:26Z [4,787ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[4.811s] [ext: isaacsim.core.api-4.8.0] startup +[4.833s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[4.898s] [ext: isaacsim.core.nodes-3.4.3] startup +[4.915s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[4.927s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.937s] [ext: omni.sensors.nv.common-3.0.0] startup +[4.952s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[4.961s] [ext: isaacsim.sensors.physx-2.3.2] startup +[4.972s] [ext: omni.sensors.nv.materials-2.0.0] startup +[4.983s] [ext: omni.sensors.net-1.0.0] startup +[4.990s] [ext: isaacsim.app.about-2.0.11] startup +[4.995s] [ext: isaacsim.simulation_app-2.12.2] startup +[4.997s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.004s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.018s] [ext: omni.kit.property.audio-1.0.16] startup +[5.028s] [ext: omni.kit.property.camera-1.0.10] startup +[5.032s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.040s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.052s] [ext: omni.kit.property.light-1.0.12] startup +[5.094s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.097s] [ext: omni.kit.selection-0.1.6] startup +[5.103s] [ext: omni.kit.property.material-1.11.9] startup +[5.143s] [ext: omni.kit.property.transform-1.5.13] startup +[5.228s] [ext: omni.kit.property.render-1.2.1] startup +[5.276s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.345s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.677s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.724s] [ext: isaacsim.gui.property-1.1.3] startup +[5.736s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.745s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.774s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.794s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.850s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.879s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[5.897s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[5.908s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[5.913s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[5.940s] [ext: omni.kit.window.console-1.1.4] startup +[5.955s] [ext: omni.rtx.window.settings-0.6.19] startup +[5.969s] [ext: omni.ocio-0.1.1] startup +[5.976s] [ext: omni.physx.demos-107.3.26] startup +[6.017s] [ext: omni.kit.property.physx-107.3.26] startup +[6.065s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.075s] [ext: omni.asset_validator.core-1.1.6] startup +[6.163s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.170s] [ext: omni.physx.vehicle-107.3.26] startup +[6.192s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.209s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.216s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.227s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.240s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.247s] [ext: omni.physx.camera-107.3.26] startup +[6.268s] [ext: omni.anim.curve.core-1.3.1] startup +[6.287s] [ext: omni.physx.cct-107.3.26] startup +[6.307s] [ext: omni.physx.graph-107.3.26] startup +[6.327s] [ext: omni.physx.supportui-107.3.26] startup +[6.343s] [ext: omni.physx.telemetry-107.3.26] startup +[6.346s] [ext: isaaclab-0.54.3] startup +[6.556s] [ext: isaaclab_contrib-0.0.2] startup +[6.558s] [ext: isaacsim.core.throttling-2.2.2] startup +[6.559s] [ext: omni.kit.ui.actions-1.0.5] startup +[6.564s] [ext: semantics.schema.property-2.0.1] startup +[6.568s] [ext: omni.physx.bundle-107.3.26] startup +[6.569s] [ext: isaacsim.sensors.camera-1.3.6] startup +[6.574s] [ext: isaaclab_assets-0.2.4] startup +[6.879s] [ext: isaaclab_tasks-0.11.14] startup +[7.033s] [ext: omni.kit.menu.common-2.0.1] startup +[7.035s] [ext: isaaclab_rl-0.5.0] startup +[7.038s] [ext: isaaclab_mimic-1.0.16] startup +[7.040s] [ext: isaaclab.python-2.3.2] startup +[7.043s] Simulation App Starting +2026-07-24T18:22:28Z [7,087ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:22:28Z [7,091ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:22:28Z [7,091ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:22:28Z [7,091ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:22:29Z [7,114ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T18:22:29Z [7,138ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T18:22:29Z [7,138ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T18:22:29Z [7,138ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[7.169s] app ready +[10.729s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54004 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54004 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-22-47.log +====================================================================================================== + +02:22:47 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 54 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:22:47Z [25,875ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:22:47Z [26,002ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:22:47Z [26,014ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:22:47Z [26,023ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.616210 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:22:47Z [26,036ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:47Z [26,042ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:48Z [26,419ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:48Z [26,419ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:48Z [26,422ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:48Z [26,422ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:48Z [26,423ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +2026-07-24T18:22:48Z [26,423ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x557fe07f5300:World0.usd@ <0x557fed01f460>) + +[INFO]: Time taken for simulation start : 0.636901 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:22:57Z [35,119ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:22:57Z [35,415ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:57Z [35,415ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:57Z [35,415ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:22:57Z [35,415ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:23:08Z [46,223ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=2 layout_id=54 variant=399 rng_seed=254399 piece_order=[4, 3, 0, 1, 2] +[curobo-ttt] semantic move=1/5 piece=player_piece4 grasp=right_side arm=left target=cell_3 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=3 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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move=2/5 piece=player_piece1 arm=right cell=4 +env0 step: 684 / 1100 env0 step: 685 / 1100 env0 step: 686 / 1100 env0 step: 687 / 1100 env0 step: 688 / 1100 env0 step: 689 / 1100 env0 step: 690 / 1100 env0 step: 691 / 1100 env0 step: 692 / 1100 env0 step: 693 / 1100 env0 step: 694 / 1100 env0 step: 695 / 1100 env0 step: 696 / 1100 env0 step: 697 / 1100 env0 step: 698 / 1100 env0 step: 699 / 1100 env0 step: 700 / 1100 env0 step: 701 / 1100 env0 step: 702 / 1100 env0 step: 703 / 1100 env0 step: 704 / 1100 env0 step: 705 / 1100 env0 step: 706 / 1100 env0 step: 707 / 1100 env0 step: 708 / 1100 env0 step: 709 / 1100 env0 step: 710 / 1100 env0 step: 711 / 1100 env0 step: 712 / 1100 env0 step: 713 / 1100 env0 step: 714 / 1100 env0 step: 715 / 1100 env0 step: 716 / 1100 env0 step: 717 / 1100 env0 step: 718 / 1100 env0 step: 719 / 1100 env0 step: 720 / 1100 env0 step: 721 / 1100 env0 step: 722 / 1100 env0 step: 723 / 1100 env0 step: 724 / 1100 env0 step: 725 / 1100 env0 step: 726 / 1100 env0 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env0 step: 909 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[1] +[curobo-ttt] semantic move=5/5 piece=player_piece2 grasp=far_side arm=right target=cell_1 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=1 +env0 step: 910 / 1100 env0 step: 911 / 1100 env0 step: 912 / 1100 env0 step: 913 / 1100 env0 step: 914 / 1100 env0 step: 915 / 1100 env0 step: 916 / 1100 env0 step: 917 / 1100 env0 step: 918 / 1100 env0 step: 919 / 1100 env0 step: 920 / 1100 env0 step: 921 / 1100 env0 step: 922 / 1100 env0 step: 923 / 1100 env0 step: 924 / 1100 env0 step: 925 / 1100 env0 step: 926 / 1100 env0 step: 927 / 1100 env0 step: 928 / 1100 env0 step: 929 / 1100 env0 step: 930 / 1100 env0 step: 931 / 1100 env0 step: 932 / 1100 env0 step: 933 / 1100 env0 step: 934 / 1100 env0 step: 935 / 1100 env0 step: 936 / 1100 env0 step: 937 / 1100 env0 step: 938 / 1100 env0 step: 939 / 1100 env0 step: 940 / 1100 env0 step: 941 / 1100 env0 step: 942 / 1100 env0 step: 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env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 env0 step: 992 / 1100 env0 step: 993 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=993 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-22-19_semantic-w04-s0055-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0055-a000,split=all,layout=54,variant=399,behavior=389/2026-07-25_02-22-19_semantic-w04-s0055-a000/episode_0000000_cam_head_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0055-a000,split=all,layout=54,variant=399,behavior=389/2026-07-25_02-22-19_semantic-w04-s0055-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0055-a000,split=all,layout=54,variant=399,behavior=389/2026-07-25_02-22-19_semantic-w04-s0055-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/2_isolated=semantic-w04-s0055-a000,split=all,layout=54,variant=399,behavior=389/_resume_2026-07-25_02-22-19_semantic-w04-s0055-a000.json (eval completed) +2026-07-24T18:26:32Z [250,416ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:32Z [250,416ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[250.733s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-26-16_semantic-w01-s0056-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-26-16_semantic-w01-s0056-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..3de3ca983fdd59f97392ed098065b4eff9135d92 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-26-16_semantic-w01-s0056-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54001 +[INFO] device_id = 1 → CUDA_VISIBLE_DEVICES=1 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-26-16_semantic-w01-s0056-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_022619.log +[0.057s] [ext: omni.kit.async_engine-0.0.3] startup +[0.173s] [ext: omni.metrics.core-0.0.3] startup +[0.174s] [ext: omni.client.lib-1.1.0] startup +[0.186s] [ext: omni.blobkey-1.1.2] startup +[0.186s] [ext: omni.stats-1.0.1] startup +[0.187s] [ext: omni.datastore-0.0.0] startup +[0.192s] [ext: omni.client-1.3.0] startup +[0.197s] [ext: omni.ujitso.default-1.0.0] startup +[0.198s] [ext: omni.hsscclient-1.1.2] startup +[0.221s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.222s] [ext: omni.assets.plugins-0.0.0] startup +[0.223s] [ext: omni.gpu_foundation-0.0.0] startup +[0.230s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:26:19Z [210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:19Z [210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.230s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:26:19Z [280ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:26:19Z [282ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:26:19Z [282ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:26:19Z [282ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:26:19Z [336ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:26:20Z [1,782ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,782ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,785ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,785ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,787ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,787ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,792ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,792ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,793ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,793ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:20Z [1,795ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 515958 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.544s] [ext: omni.materialx.libs-1.0.7] startup +[2.551s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.552s] [ext: omni.kit.test-2.0.1] startup +[2.592s] [ext: omni.kit.pipapi-0.0.0] startup +[2.593s] [ext: omni.usd.config-1.0.6] startup +[2.595s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.596s] [ext: omni.usd.libs-1.0.1] startup +[2.669s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.669s] [ext: omni.mdl-56.0.3] startup +[2.728s] [ext: omni.iray.libs-0.0.0] startup +[2.733s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.735s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.818s] [ext: omni.kit.telemetry-0.5.2] startup +[2.865s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:26:21Z [2,845ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:21Z [2,845ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.868s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:26:21Z [2,861ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:21Z [2,861ms] [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) +2026-07-24T18:26:21Z [2,869ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:21Z [2,869ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.891s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.893s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:26:21Z [2,875ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:21Z [2,875ms] [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) +2026-07-24T18:26:21Z [2,876ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:21Z [2,876ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:26:21Z [2,877ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:21Z [2,877ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.976s] [ext: omni.ui-2.27.1] startup +[2.985s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.986s] [ext: carb.audio-0.1.0] startup +[3.007s] [ext: omni.uiaudio-1.0.0] startup +[3.008s] [ext: omni.kit.uiapp-0.0.0] startup +[3.008s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.011s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.017s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.019s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.023s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.025s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.042s] [ext: omni.usd_resolver-1.0.0] startup +[3.045s] [ext: omni.usd.core-1.5.3] startup +[3.047s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.065s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.071s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.099s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.100s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.101s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.104s] [ext: omni.graph.exec-0.9.6] startup +[3.105s] [ext: omni.kit.actions.core-1.0.0] startup +[3.106s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.107s] [ext: omni.kit.exec.core-0.13.4] startup +[3.108s] [ext: omni.kit.commands-1.4.10] startup +[3.111s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.114s] [ext: omni.activity.core-1.0.3] startup +[3.115s] [ext: omni.resourcemonitor-107.0.1] startup +[3.116s] [ext: omni.timeline-1.0.14] startup +[3.118s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.120s] [ext: usdrt.scenegraph-7.6.1] startup +[3.151s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.152s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.157s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.161s] [ext: omni.usd-1.13.10] startup +[3.182s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.192s] [ext: omni.index.libs-380600.8087.0] startup +[3.192s] [ext: omni.volume-0.5.2] startup +[3.194s] [ext: omni.ujitso.client-0.0.0] startup +[3.194s] [ext: omni.index-1.0.1] startup +[3.195s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.196s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:26:22Z [3,190ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.223s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.224s] [ext: omni.kit.clipboard-1.0.5] startup +[3.225s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.227s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.260s] [ext: omni.kit.menu.core-1.1.2] startup +[3.260s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.263s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.264s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.265s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.265s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.266s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.270s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.271s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.277s] [ext: omni.ui.scene-1.11.5] startup +[3.280s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.281s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.293s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.299s] [ext: omni.kit.context_menu-1.8.6] startup +[3.300s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.303s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.306s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.308s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.309s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.309s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.312s] [ext: omni.kit.material.library-2.0.7] startup +[3.316s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.318s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.319s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.332s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.336s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.340s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.340s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.344s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.347s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.348s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.349s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.351s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.351s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.352s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.357s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.360s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.360s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.362s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.363s] [ext: omni.fabric.commands-1.1.6] startup +[3.365s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.366s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.367s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.368s] [ext: omni.debugdraw-0.1.4] startup +[3.371s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.379s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.380s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.380s] [ext: omni.kvdb-107.3.26] startup +[3.382s] [ext: omni.convexdecomposition-107.3.26] startup +[3.384s] [ext: omni.physx.foundation-107.3.26] startup +[3.385s] [ext: omni.localcache-107.3.26] startup +[3.386s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.387s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.387s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.388s] [ext: omni.usdphysics-107.3.26] startup +[3.390s] [ext: omni.kit.window.file-2.0.5] startup +[3.392s] [ext: omni.physx.cooking-107.3.26] startup +[3.395s] [ext: omni.physics-107.3.26] startup +[3.397s] [ext: omni.kit.window.property-1.12.1] startup +[3.399s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.409s] [ext: omni.physx-107.3.26] startup +[3.418s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.419s] [ext: omni.kit.property.usd-4.5.12] startup +[3.428s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.429s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:26:22Z [3,410ms] [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. +[3.431s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.431s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.443s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.446s] [ext: omni.inspect-1.0.2] startup +[3.448s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.457s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.459s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.464s] [ext: omni.graph.core-2.184.5] startup +[3.466s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.467s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.490s] [ext: omni.physx.commands-107.3.26] startup +[3.494s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.495s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:26:22Z [3,479ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.500s] [ext: omni.physx.ui-107.3.26] startup +[3.526s] [ext: isaacsim.core.version-2.0.6] startup +[3.527s] [ext: omni.physics.tensors-107.3.26] startup +[3.531s] [ext: omni.warp.core-1.8.2] startup +[3.692s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.694s] [ext: isaacsim.storage.native-1.5.1] startup +[3.695s] [ext: omni.physx.tensors-107.3.26] startup +[3.699s] [ext: isaacsim.core.utils-3.5.1] startup +[3.701s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.940s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.941s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.942s] [ext: omni.kit.window.stage-2.6.1] startup +[4.946s] [ext: omni.kit.menu.create-2.0.1] startup +[4.947s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.957s] [ext: omni.kit.scripting-107.3.2] startup +[4.961s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.965s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.965s] [ext: omni.graph.tools-1.79.2] startup +[4.984s] [ext: omni.ui_query-1.1.8] startup +[4.985s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.985s] [ext: omni.graph-1.141.2] startup +[5.022s] [ext: omni.graph.action_core-1.1.7] startup +[5.024s] [ext: omni.kit.ui_test-1.3.7] startup +[5.027s] [ext: omni.kit.browser.core-2.3.13] startup +[5.031s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.035s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.038s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.041s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.054s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.057s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.070s] [ext: omni.graph.action-1.130.0] startup +[5.074s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.077s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.087s] [ext: isaacsim.gui.components-1.2.1] startup +[5.096s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.105s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.191s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.196s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.203s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.291s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:26:24Z [5,279ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.302s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.302s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.305s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.311s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.314s] [ext: omni.graph.image.core-0.6.1] startup +[5.315s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.316s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.317s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.321s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.323s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.326s] [ext: omni.graph.nodes-1.170.10] startup +[5.334s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.340s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.346s] [ext: omni.syntheticdata-0.6.13] startup +[5.380s] [ext: omni.videoencoding-0.1.2] startup +[5.385s] [ext: omni.warp-1.8.2] startup +[5.392s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.411s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.415s] [ext: isaacsim.core.prims-0.6.1] startup +[5.496s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.510s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:26:24Z [5,771ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:26:24Z [5,771ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:26:24Z [5,772ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.797s] [ext: isaacsim.core.api-4.8.0] startup +[5.821s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.894s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.912s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.923s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.932s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.949s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.967s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.984s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.997s] [ext: omni.sensors.net-1.0.0] startup +[6.006s] [ext: isaacsim.app.about-2.0.11] startup +[6.019s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.020s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.031s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.055s] [ext: omni.kit.property.audio-1.0.16] startup +[6.065s] [ext: omni.kit.property.camera-1.0.10] startup +[6.073s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.091s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.113s] [ext: omni.kit.property.light-1.0.12] startup +[6.171s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.178s] [ext: omni.kit.selection-0.1.6] startup +[6.212s] [ext: omni.kit.property.material-1.11.9] startup +[6.629s] [ext: omni.kit.property.transform-1.5.13] startup +[6.658s] [ext: omni.kit.property.render-1.2.1] startup +[6.667s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.681s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.721s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.759s] [ext: isaacsim.gui.property-1.1.3] startup +[6.767s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.774s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.798s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.818s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.862s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.877s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.891s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.901s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.903s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.910s] [ext: omni.kit.window.console-1.1.4] startup +[6.920s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.925s] [ext: omni.ocio-0.1.1] startup +[6.928s] [ext: omni.physx.demos-107.3.26] startup +[6.946s] [ext: omni.kit.property.physx-107.3.26] startup +[6.969s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.973s] [ext: omni.asset_validator.core-1.1.6] startup +[7.039s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.042s] [ext: omni.physx.vehicle-107.3.26] startup +[7.058s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.069s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.072s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.077s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.085s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.090s] [ext: omni.physx.camera-107.3.26] startup +[7.102s] [ext: omni.anim.curve.core-1.3.1] startup +[7.117s] [ext: omni.physx.cct-107.3.26] startup +[7.130s] [ext: omni.physx.graph-107.3.26] startup +[7.152s] [ext: omni.physx.supportui-107.3.26] startup +[7.183s] [ext: omni.physx.telemetry-107.3.26] startup +[7.187s] [ext: isaaclab-0.54.3] startup +[7.435s] [ext: isaaclab_contrib-0.0.2] startup +[7.438s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.440s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.442s] [ext: semantics.schema.property-2.0.1] startup +[7.446s] [ext: omni.physx.bundle-107.3.26] startup +[7.447s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.452s] [ext: isaaclab_assets-0.2.4] startup +[7.753s] [ext: isaaclab_tasks-0.11.14] startup +[7.919s] [ext: omni.kit.menu.common-2.0.1] startup +[7.921s] [ext: isaaclab_rl-0.5.0] startup +[7.925s] [ext: isaaclab_mimic-1.0.16] startup +[7.926s] [ext: isaaclab.python-2.3.2] startup +[7.931s] Simulation App Starting +2026-07-24T18:26:27Z [7,982ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:26:27Z [7,986ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:26:27Z [7,986ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:26:27Z [7,986ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:26:27Z [8,010ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.057s] app ready +[12.138s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54001 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54001 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-26-47.log +====================================================================================================== + +02:26:47 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 56 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:26:47Z [28,428ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:26:47Z [28,557ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:26:47Z [28,570ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:26:47Z [28,580ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.598235 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:26:47Z [28,592ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:47Z [28,598ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:48Z [28,996ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:48Z [28,997ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:48Z [29,000ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:48Z [29,001ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:48Z [29,001ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +2026-07-24T18:26:48Z [29,001ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55745fe72370:World0.usd@ <0x55746c6f1ff0>) + +[INFO]: Time taken for simulation start : 0.655722 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:26:56Z [37,464ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:26:56Z [37,779ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:26:56Z [37,779ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:26:56Z [37,779ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:26:56Z [37,779ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:27:07Z [48,720ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=56 variant=403 rng_seed=56403 piece_order=[1, 3, 2, 0, 4] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=3 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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env0 step: 216 / 1100 [curobo-ttt] opponent=1/4 complete placed=2 empty=[0, 1, 2, 4, 5, 7, 8] +[curobo-ttt] semantic move=2/5 piece=player_piece3 grasp=right_side arm=right target=cell_7 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=7 +env0 step: 217 / 1100 env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 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943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 env0 step: 962 / 1100 env0 step: 963 / 1100 env0 step: 964 / 1100 env0 step: 965 / 1100 env0 step: 966 / 1100 env0 step: 967 / 1100 env0 step: 968 / 1100 env0 step: 969 / 1100 env0 step: 970 / 1100 env0 step: 971 / 1100 env0 step: 972 / 1100 env0 step: 973 / 1100 env0 step: 974 / 1100 env0 step: 975 / 1100 env0 step: 976 / 1100 env0 step: 977 / 1100 env0 step: 978 / 1100 env0 step: 979 / 1100 env0 step: 980 / 1100 env0 step: 981 / 1100 env0 step: 982 / 1100 env0 step: 983 / 1100 env0 step: 984 / 1100 env0 step: 985 / 1100 env0 step: 986 / 1100 env0 step: 987 / 1100 env0 step: 988 / 1100 env0 step: 989 / 1100 env0 step: 990 / 1100 env0 step: 991 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=991 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-26-16_semantic-w01-s0056-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0056-a000,split=all,layout=56,variant=403,behavior=393/2026-07-25_02-26-16_semantic-w01-s0056-a000/episode_0000000_cam_head_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0056-a000,split=all,layout=56,variant=403,behavior=393/2026-07-25_02-26-16_semantic-w01-s0056-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0056-a000,split=all,layout=56,variant=403,behavior=393/2026-07-25_02-26-16_semantic-w01-s0056-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 200 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w01-s0056-a000,split=all,layout=56,variant=403,behavior=393/_resume_2026-07-25_02-26-16_semantic-w01-s0056-a000.json (eval completed) +2026-07-24T18:30:36Z [257,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:30:36Z [257,406ms] [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) +[257.743s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-26-34_semantic-w04-s0056-a000.log b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-26-34_semantic-w04-s0056-a000.log new file mode 100644 index 0000000000000000000000000000000000000000..57a4f99fc7a0b813a0ad0cc0fbbc533752f72470 --- /dev/null +++ b/curobot/fwh/play_tic_tac_toe/logs/2026-07-25_02-26-34_semantic-w04-s0056-a000.log @@ -0,0 +1,483 @@ +[INFO] PYTHONPATH=/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab:/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe:/root/autodl-tmp/robodojo_ws/RoboDojo:/root/autodl-tmp/robodojo_ws/RoboDojo/XPolicyLab: +[INFO] policy transport = WebSocket (protocol: ws) +[INFO] policy_server_url = ws://localhost:54004 +[INFO] device_id = 4 → CUDA_VISIBLE_DEVICES=4 +[INFO] render_interval = 10 +[INFO] num_envs = 10 +[eval_policy] ROBODOJO_RUN_ID=2026-07-25_02-26-34_semantic-w04-s0056-a000 +[main] PhysX monitor enabled=False (task=play_tic_tac_toe) +[INFO][AppLauncher]: Using device: cuda:0 +[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit +Loading user config located at: '/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json' +[Info] [carb] Logging to file: /root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260725_022636.log +[0.053s] [ext: omni.kit.async_engine-0.0.3] startup +[0.169s] [ext: omni.metrics.core-0.0.3] startup +[0.169s] [ext: omni.client.lib-1.1.0] startup +[0.181s] [ext: omni.blobkey-1.1.2] startup +[0.182s] [ext: omni.stats-1.0.1] startup +[0.182s] [ext: omni.datastore-0.0.0] startup +[0.187s] [ext: omni.client-1.3.0] startup +[0.192s] [ext: omni.ujitso.default-1.0.0] startup +[0.193s] [ext: omni.hsscclient-1.1.2] startup +[0.215s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.216s] [ext: omni.assets.plugins-0.0.0] startup +[0.217s] [ext: omni.gpu_foundation-0.0.0] startup +[0.224s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T18:26:37Z [204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:37Z [204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.224s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T18:26:37Z [276ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T18:26:37Z [278ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T18:26:37Z [278ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T18:26:37Z [278ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T18:26:37Z [337ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3994.79 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. +2026-07-24T18:26:37Z [955ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [955ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [960ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [960ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [962ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [962ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [963ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [963ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [965ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [965ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T18:26:37Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | e8192efd.. | +| | | | | | 3d | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | bb5cff6e.. | +| | | | | | 50 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 4fa04f97.. | +| | | | | | 63 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 317df112.. | +| | | | | | 99 | | +|---------------------------------------------------------------------------------------------| +| 4 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | be71188b.. | +| | | | | | ab | | +|---------------------------------------------------------------------------------------------| +| 5 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 827ac542.. | +| | | | | | bd | | +|---------------------------------------------------------------------------------------------| +| 6 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a47b8653.. | +| | | | | | cf | | +|=============================================================================================| +| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic +| Processor: Intel(R) Xeon(R) Gold 6459C +| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128 +| Core Usage Quota: 112 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 645120 | Free Memory: 518984 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.786s] [ext: omni.materialx.libs-1.0.7] startup +[1.793s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.793s] [ext: omni.kit.test-2.0.1] startup +[1.831s] [ext: omni.kit.pipapi-0.0.0] startup +[1.832s] [ext: omni.usd.config-1.0.6] startup +[1.834s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.835s] [ext: omni.usd.libs-1.0.1] startup +[1.907s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.908s] [ext: omni.mdl-56.0.3] startup +[1.963s] [ext: omni.iray.libs-0.0.0] startup +[1.968s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.970s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.054s] [ext: omni.kit.telemetry-0.5.2] startup +[2.084s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T18:26:38Z [2,065ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:38Z [2,065ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.087s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T18:26:38Z [2,081ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:38Z [2,081ms] [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) +2026-07-24T18:26:38Z [2,090ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:38Z [2,090ms] [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) +[2.111s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.113s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T18:26:38Z [2,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:38Z [2,096ms] [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) +2026-07-24T18:26:38Z [2,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:38Z [2,097ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T18:26:38Z [2,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:26:38Z [2,098ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.262s] [ext: omni.ui-2.27.1] startup +[2.274s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.276s] [ext: carb.audio-0.1.0] startup +[2.304s] [ext: omni.uiaudio-1.0.0] startup +[2.305s] [ext: omni.kit.uiapp-0.0.0] startup +[2.305s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.308s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.315s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.317s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.321s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.324s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.346s] [ext: omni.usd_resolver-1.0.0] startup +[2.350s] [ext: omni.usd.core-1.5.3] startup +[2.353s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.374s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.380s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.407s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.408s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.408s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.412s] [ext: omni.graph.exec-0.9.6] startup +[2.412s] [ext: omni.kit.actions.core-1.0.0] startup +[2.414s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.414s] [ext: omni.kit.exec.core-0.13.4] startup +[2.415s] [ext: omni.kit.commands-1.4.10] startup +[2.418s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.421s] [ext: omni.activity.core-1.0.3] startup +[2.422s] [ext: omni.resourcemonitor-107.0.1] startup +[2.424s] [ext: omni.timeline-1.0.14] startup +[2.425s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.427s] [ext: usdrt.scenegraph-7.6.1] startup +[2.469s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.470s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.475s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.479s] [ext: omni.usd-1.13.10] startup +[2.499s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.510s] [ext: omni.index.libs-380600.8087.0] startup +[2.510s] [ext: omni.volume-0.5.2] startup +[2.512s] [ext: omni.ujitso.client-0.0.0] startup +[2.512s] [ext: omni.index-1.0.1] startup +[2.512s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.513s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T18:26:39Z [2,514ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.552s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.554s] [ext: omni.kit.clipboard-1.0.5] startup +[2.555s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.558s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.564s] [ext: omni.kit.menu.core-1.1.2] startup +[2.564s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.568s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.570s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.571s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.572s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.573s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.579s] 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omni.kit.window.file_exporter-1.0.33] startup +[2.685s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.686s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.687s] [ext: omni.debugdraw-0.1.4] startup +[2.690s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.699s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.699s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.699s] [ext: omni.kvdb-107.3.26] startup +[2.700s] [ext: omni.convexdecomposition-107.3.26] startup +[2.703s] [ext: omni.physx.foundation-107.3.26] startup +[2.704s] [ext: omni.localcache-107.3.26] startup +[2.705s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.705s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.706s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.706s] [ext: omni.usdphysics-107.3.26] startup +[2.708s] [ext: omni.kit.window.file-2.0.5] startup +[2.710s] [ext: omni.physx.cooking-107.3.26] startup +[2.713s] [ext: omni.physics-107.3.26] startup +[2.716s] [ext: omni.kit.window.property-1.12.1] startup +[2.718s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.727s] [ext: omni.physx-107.3.26] startup +[2.735s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.737s] [ext: omni.kit.property.usd-4.5.12] startup +[2.745s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.746s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T18:26:39Z [2,727ms] [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. +[2.748s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.748s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.759s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.763s] [ext: omni.inspect-1.0.2] startup +[2.764s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.773s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.774s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.780s] [ext: omni.graph.core-2.184.5] startup +[2.782s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.783s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.805s] [ext: omni.physx.commands-107.3.26] startup +[2.809s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.810s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T18:26:39Z [2,794ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.814s] [ext: omni.physx.ui-107.3.26] startup +[2.840s] [ext: isaacsim.core.version-2.0.6] startup +[2.840s] [ext: omni.physics.tensors-107.3.26] startup +[2.844s] [ext: omni.warp.core-1.8.2] startup +[3.001s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.003s] [ext: isaacsim.storage.native-1.5.1] startup +[3.004s] [ext: omni.physx.tensors-107.3.26] startup +[3.008s] [ext: isaacsim.core.utils-3.5.1] startup +[3.011s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.323s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.324s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.326s] [ext: omni.kit.window.stage-2.6.1] startup +[4.333s] [ext: omni.kit.menu.create-2.0.1] startup +[4.334s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.340s] [ext: omni.kit.scripting-107.3.2] startup +[4.344s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.347s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.348s] [ext: omni.graph.tools-1.79.2] startup +[4.367s] [ext: omni.ui_query-1.1.8] startup +[4.368s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.369s] [ext: omni.graph-1.141.2] startup +[4.407s] [ext: omni.graph.action_core-1.1.7] startup +[4.409s] [ext: omni.kit.ui_test-1.3.7] startup +[4.412s] [ext: omni.kit.browser.core-2.3.13] startup +[4.416s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.419s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.423s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.427s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.443s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.446s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.464s] [ext: omni.graph.action-1.130.0] startup +[4.468s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.474s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.482s] [ext: isaacsim.gui.components-1.2.1] startup +[4.491s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.500s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.615s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.620s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.625s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.718s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T18:26:41Z [4,706ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.728s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.730s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.734s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.740s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.743s] [ext: omni.graph.image.core-0.6.1] startup +[4.746s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.746s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.749s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.753s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.755s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.757s] [ext: omni.graph.nodes-1.170.10] startup +[4.766s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.773s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.780s] [ext: omni.syntheticdata-0.6.13] startup +[4.811s] [ext: omni.videoencoding-0.1.2] startup +[4.816s] [ext: omni.warp-1.8.2] startup +[4.825s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.844s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.849s] [ext: isaacsim.core.prims-0.6.1] startup +[4.881s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.889s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T18:26:41Z [5,028ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T18:26:41Z [5,028ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T18:26:41Z [5,029ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.055s] [ext: isaacsim.core.api-4.8.0] startup +[5.094s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.150s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.169s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.179s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.191s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.202s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.213s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.237s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.259s] [ext: omni.sensors.net-1.0.0] startup +[5.274s] [ext: isaacsim.app.about-2.0.11] startup +[5.284s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.287s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.306s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.319s] [ext: omni.kit.property.audio-1.0.16] startup +[5.361s] [ext: omni.kit.property.camera-1.0.10] startup +[5.395s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.430s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.453s] [ext: omni.kit.property.light-1.0.12] startup +[5.508s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.516s] [ext: omni.kit.selection-0.1.6] startup +[5.525s] [ext: omni.kit.property.material-1.11.9] startup +[5.607s] [ext: omni.kit.property.transform-1.5.13] startup +[5.639s] [ext: omni.kit.property.render-1.2.1] startup +[5.648s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.664s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.773s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.933s] [ext: isaacsim.gui.property-1.1.3] startup +[6.026s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.044s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.196s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.407s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.506s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.528s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.552s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.563s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.568s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.596s] [ext: omni.kit.window.console-1.1.4] startup +[6.608s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.623s] [ext: omni.ocio-0.1.1] startup +[6.632s] [ext: omni.physx.demos-107.3.26] startup +[6.682s] [ext: omni.kit.property.physx-107.3.26] startup +[6.724s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.734s] [ext: omni.asset_validator.core-1.1.6] startup +[6.821s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.825s] [ext: omni.physx.vehicle-107.3.26] startup +[6.841s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.851s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.857s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.864s] [ext: omni.physx.asset_validator-107.3.26] startup +[6.872s] [ext: omni.kit.window.toolbar-2.0.0] startup +[6.878s] [ext: omni.physx.camera-107.3.26] startup +[6.889s] [ext: omni.anim.curve.core-1.3.1] startup +[6.900s] [ext: omni.physx.cct-107.3.26] startup +[6.916s] [ext: omni.physx.graph-107.3.26] startup +[6.951s] [ext: omni.physx.supportui-107.3.26] startup +[6.979s] [ext: omni.physx.telemetry-107.3.26] startup +[6.988s] [ext: isaaclab-0.54.3] startup +[7.262s] [ext: isaaclab_contrib-0.0.2] startup +[7.264s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.267s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.272s] [ext: semantics.schema.property-2.0.1] startup +[7.276s] [ext: omni.physx.bundle-107.3.26] startup +[7.276s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.284s] [ext: isaaclab_assets-0.2.4] startup +[7.594s] [ext: isaaclab_tasks-0.11.14] startup +[7.749s] [ext: omni.kit.menu.common-2.0.1] startup +[7.751s] [ext: isaaclab_rl-0.5.0] startup +[7.752s] [ext: isaaclab_mimic-1.0.16] startup +[7.754s] [ext: isaaclab.python-2.3.2] startup +[7.757s] Simulation App Starting +2026-07-24T18:26:44Z [7,803ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T18:26:44Z [7,807ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T18:26:44Z [7,807ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T18:26:44Z [7,807ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T18:26:44Z [7,833ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.879s] app ready +[11.835s] Simulation App Startup Complete +[main] eval_batch=false in XPolicyLab/policy/auto_play_tic_tac_toe/deploy.yml; forcing num_envs 10 -> 1 +[CONNECTING] websocket policy server ws://localhost:54004 (attempt 1/10, timeout=30s) +[CONNECTED] websocket policy server connected: ws://localhost:54004 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================================== +[INFO][IsaacLab]: Logging to file: /root/autodl-tmp/tmp/isaaclab/logs/isaaclab_2026-07-25_02-27-04.log +====================================================================================================== + +02:27:04 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 57 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T18:27:04Z [27,935ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T18:27:04Z [28,056ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:27:04Z [28,069ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T18:27:04Z [28,078ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.569127 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T18:27:04Z [28,090ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:04Z [28,096ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:05Z [28,477ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:05Z [28,478ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:05Z [28,481ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:05Z [28,481ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:05Z [28,482ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +2026-07-24T18:27:05Z [28,482ms] [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 @/root/autodl-tmp/robodojo_ws/RoboDojo/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55e53c96b140:World0.usd@ <0x55e5491ef7b0>) + +[INFO]: Time taken for simulation start : 0.646300 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T18:27:14Z [37,269ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T18:27:14Z [37,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:27:14Z [37,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:27:14Z [37,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:27:14Z [37,667ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T18:27:25Z [48,574ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[curobo-ttt] eval_seed=0 layout_id=57 variant=406 rng_seed=57406 piece_order=[1, 2, 0, 4, 3] +[curobo-ttt] semantic move=1/5 piece=player_piece1 grasp=far_side arm=right target=cell_3 place=center approach=from_above +[curobo-ttt] move=2/5 piece=player_piece1 arm=right cell=3 +env0 step: 1 / 1100 env0 step: 2 / 1100 env0 step: 3 / 1100 env0 step: 4 / 1100 env0 step: 5 / 1100 env0 step: 6 / 1100 env0 step: 7 / 1100 env0 step: 8 / 1100 env0 step: 9 / 1100 env0 step: 10 / 1100 env0 step: 11 / 1100 env0 step: 12 / 1100 env0 step: 13 / 1100 env0 step: 14 / 1100 env0 step: 15 / 1100 env0 step: 16 / 1100 env0 step: 17 / 1100 env0 step: 18 / 1100 env0 step: 19 / 1100 env0 step: 20 / 1100 env0 step: 21 / 1100 env0 step: 22 / 1100 env0 step: 23 / 1100 env0 step: 24 / 1100 env0 step: 25 / 1100 env0 step: 26 / 1100 env0 step: 27 / 1100 env0 step: 28 / 1100 env0 step: 29 / 1100 env0 step: 30 / 1100 env0 step: 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7] +[curobo-ttt] semantic move=2/5 piece=player_piece2 grasp=far_side arm=right target=cell_4 place=center approach=from_above +[curobo-ttt] move=3/5 piece=player_piece2 arm=right cell=4 +env0 step: 213 / 1100 env0 step: 214 / 1100 env0 step: 215 / 1100 env0 step: 216 / 1100 env0 step: 217 / 1100 env0 step: 218 / 1100 env0 step: 219 / 1100 env0 step: 220 / 1100 env0 step: 221 / 1100 env0 step: 222 / 1100 env0 step: 223 / 1100 env0 step: 224 / 1100 env0 step: 225 / 1100 env0 step: 226 / 1100 env0 step: 227 / 1100 env0 step: 228 / 1100 env0 step: 229 / 1100 env0 step: 230 / 1100 env0 step: 231 / 1100 env0 step: 232 / 1100 env0 step: 233 / 1100 env0 step: 234 / 1100 env0 step: 235 / 1100 env0 step: 236 / 1100 env0 step: 237 / 1100 env0 step: 238 / 1100 env0 step: 239 / 1100 env0 step: 240 / 1100 env0 step: 241 / 1100 env0 step: 242 / 1100 env0 step: 243 / 1100 env0 step: 244 / 1100 env0 step: 245 / 1100 env0 step: 246 / 1100 env0 step: 247 / 1100 env0 step: 248 / 1100 env0 step: 249 / 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[curobo-ttt] opponent=2/4 complete placed=4 empty=[0, 1, 2, 5, 6] +[curobo-ttt] semantic move=3/5 piece=player_piece0 grasp=left_side arm=left target=cell_1 place=center approach=from_above +[curobo-ttt] move=1/5 piece=player_piece0 arm=left cell=1 +env0 step: 431 / 1100 env0 step: 432 / 1100 env0 step: 433 / 1100 env0 step: 434 / 1100 env0 step: 435 / 1100 env0 step: 436 / 1100 env0 step: 437 / 1100 env0 step: 438 / 1100 env0 step: 439 / 1100 env0 step: 440 / 1100 env0 step: 441 / 1100 env0 step: 442 / 1100 env0 step: 443 / 1100 env0 step: 444 / 1100 env0 step: 445 / 1100 env0 step: 446 / 1100 env0 step: 447 / 1100 env0 step: 448 / 1100 env0 step: 449 / 1100 env0 step: 450 / 1100 env0 step: 451 / 1100 env0 step: 452 / 1100 env0 step: 453 / 1100 env0 step: 454 / 1100 env0 step: 455 / 1100 env0 step: 456 / 1100 env0 step: 457 / 1100 env0 step: 458 / 1100 env0 step: 459 / 1100 env0 step: 460 / 1100 env0 step: 461 / 1100 env0 step: 462 / 1100 env0 step: 463 / 1100 env0 step: 464 / 1100 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env0 step: 647 / 1100 env0 step: 648 / 1100 [curobo-ttt] opponent=3/4 complete placed=6 empty=[0, 2, 5] +[curobo-ttt] semantic move=4/5 piece=player_piece4 grasp=right_side arm=left target=cell_0 place=center approach=from_above +[curobo-ttt] move=5/5 piece=player_piece4 arm=left cell=0 +env0 step: 649 / 1100 env0 step: 650 / 1100 env0 step: 651 / 1100 env0 step: 652 / 1100 env0 step: 653 / 1100 env0 step: 654 / 1100 env0 step: 655 / 1100 env0 step: 656 / 1100 env0 step: 657 / 1100 env0 step: 658 / 1100 env0 step: 659 / 1100 env0 step: 660 / 1100 env0 step: 661 / 1100 env0 step: 662 / 1100 env0 step: 663 / 1100 env0 step: 664 / 1100 env0 step: 665 / 1100 env0 step: 666 / 1100 env0 step: 667 / 1100 env0 step: 668 / 1100 env0 step: 669 / 1100 env0 step: 670 / 1100 env0 step: 671 / 1100 env0 step: 672 / 1100 env0 step: 673 / 1100 env0 step: 674 / 1100 env0 step: 675 / 1100 env0 step: 676 / 1100 env0 step: 677 / 1100 env0 step: 678 / 1100 env0 step: 679 / 1100 env0 step: 680 / 1100 env0 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env0 step: 863 / 1100 env0 step: 864 / 1100 env0 step: 865 / 1100 env0 step: 866 / 1100 env0 step: 867 / 1100 env0 step: 868 / 1100 env0 step: 869 / 1100 env0 step: 870 / 1100 env0 step: 871 / 1100 env0 step: 872 / 1100 env0 step: 873 / 1100 env0 step: 874 / 1100 env0 step: 875 / 1100 env0 step: 876 / 1100 env0 step: 877 / 1100 env0 step: 878 / 1100 env0 step: 879 / 1100 env0 step: 880 / 1100 env0 step: 881 / 1100 env0 step: 882 / 1100 env0 step: 883 / 1100 env0 step: 884 / 1100 env0 step: 885 / 1100 [curobo-ttt] opponent=4/4 complete placed=8 empty=[2] +[curobo-ttt] semantic move=5/5 piece=player_piece3 grasp=right_side arm=right target=cell_2 place=center approach=from_above +[curobo-ttt] move=4/5 piece=player_piece3 arm=right cell=2 +env0 step: 886 / 1100 env0 step: 887 / 1100 env0 step: 888 / 1100 env0 step: 889 / 1100 env0 step: 890 / 1100 env0 step: 891 / 1100 env0 step: 892 / 1100 env0 step: 893 / 1100 env0 step: 894 / 1100 env0 step: 895 / 1100 env0 step: 896 / 1100 env0 step: 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env0 step: 943 / 1100 env0 step: 944 / 1100 env0 step: 945 / 1100 env0 step: 946 / 1100 env0 step: 947 / 1100 env0 step: 948 / 1100 env0 step: 949 / 1100 env0 step: 950 / 1100 env0 step: 951 / 1100 env0 step: 952 / 1100 env0 step: 953 / 1100 env0 step: 954 / 1100 env0 step: 955 / 1100 env0 step: 956 / 1100 env0 step: 957 / 1100 env0 step: 958 / 1100 env0 step: 959 / 1100 env0 step: 960 / 1100 env0 step: 961 / 1100 [curobo-ttt] PASS: all 5 player moves and 4 opponent moves completed +[curobo-data] VALID demos=1 steps=961 hdf5=/root/autodl-tmp/robodojo_curobo_play_tic_tac_toe/generalized400/candidates/hdf5/2026-07-25_02-26-34_semantic-w04-s0056-a000.hdf5 +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0056-a000,split=all,layout=57,variant=406,behavior=396/2026-07-25_02-26-34_semantic-w04-s0056-a000/episode_0000000_cam_head_success.mp4`, containing 194 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0056-a000,split=all,layout=57,variant=406,behavior=396/2026-07-25_02-26-34_semantic-w04-s0056-a000/episode_0000000_cam_left_wrist_success.mp4`, containing 194 frames at 640×480 resolution and 25 FPS. +🎬 Video is saved to `eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0056-a000,split=all,layout=57,variant=406,behavior=396/2026-07-25_02-26-34_semantic-w04-s0056-a000/episode_0000000_cam_right_wrist_success.mp4`, containing 194 frames at 640×480 resolution and 25 FPS. +Success nums: 1, Fail nums: 0, Unstable nums: 0 +[main] removed resume manifest eval_result/RoboDojo/play_tic_tac_toe/auto_play_tic_tac_toe/arx_x5/0_isolated=semantic-w04-s0056-a000,split=all,layout=57,variant=406,behavior=396/_resume_2026-07-25_02-26-34_semantic-w04-s0056-a000.json (eval completed) +2026-07-24T18:30:55Z [258,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T18:30:55Z [258,197ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[259.064s] Simulation App Shutting Down diff --git a/curobot/fwh/play_tic_tac_toe/videos/2026-07-25_02-15-47_semantic-w02-s0054-a000/2026-07-25_02-15-47_semantic-w02-s0054-a000_play_tic_tac_toe_auto_play_tic_tac_toe/demo_0000_seed_51/cam_head.mp4 b/curobot/fwh/play_tic_tac_toe/videos/2026-07-25_02-15-47_semantic-w02-s0054-a000/2026-07-25_02-15-47_semantic-w02-s0054-a000_play_tic_tac_toe_auto_play_tic_tac_toe/demo_0000_seed_51/cam_head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3dbdcf66aca062879209022e13c27fd786d8dc60 --- /dev/null +++ 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