Add swap_T log
Browse files
yzr/swap_T/logs/swap_T_regv45_seed30_official400.log
ADDED
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@@ -0,0 +1,855 @@
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| 1 |
+
[INFO][AppLauncher]: Using device: cuda:0
|
| 2 |
+
[INFO][AppLauncher]: Loading experience file: /root/autodl-tmp/robodojo_ws/RoboDojo/third_party/IsaacLab/apps/isaaclab.python.kit
|
| 3 |
+
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'
|
| 4 |
+
[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_134328.log
|
| 5 |
+
[0.060s] [ext: omni.kit.async_engine-0.0.3] startup
|
| 6 |
+
[0.201s] [ext: omni.metrics.core-0.0.3] startup
|
| 7 |
+
[0.202s] [ext: omni.client.lib-1.1.0] startup
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| 8 |
+
[0.217s] [ext: omni.blobkey-1.1.2] startup
|
| 9 |
+
[0.217s] [ext: omni.stats-1.0.1] startup
|
| 10 |
+
[0.218s] [ext: omni.datastore-0.0.0] startup
|
| 11 |
+
[0.225s] [ext: omni.client-1.3.0] startup
|
| 12 |
+
[0.230s] [ext: omni.ujitso.default-1.0.0] startup
|
| 13 |
+
[0.232s] [ext: omni.hsscclient-1.1.2] startup
|
| 14 |
+
[0.254s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
|
| 15 |
+
[0.256s] [ext: omni.assets.plugins-0.0.0] startup
|
| 16 |
+
[0.257s] [ext: omni.gpu_foundation-0.0.0] startup
|
| 17 |
+
[0.265s] [ext: carb.windowing.plugins-1.0.0] startup
|
| 18 |
+
2026-07-24T05:43:29Z [240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 19 |
+
2026-07-24T05:43:29Z [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)
|
| 20 |
+
[0.266s] [ext: omni.kit.renderer.init-0.0.0] startup
|
| 21 |
+
2026-07-24T05:43:29Z [327ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|
| 22 |
+
2026-07-24T05:43:29Z [339ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
|
| 23 |
+
2026-07-24T05:43:29Z [339ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
|
| 24 |
+
2026-07-24T05:43:29Z [339ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
|
| 25 |
+
2026-07-24T05:43:29Z [401ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3938.58 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:
|
| 26 |
+
- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once).
|
| 27 |
+
- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan).
|
| 28 |
+
Driver caches will be re-generated which may take a few minutes on the next launch.
|
| 29 |
+
2026-07-24T05:43:29Z [992ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
|
| 30 |
+
2026-07-24T05:43:29Z [992ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|
| 31 |
+
2026-07-24T05:43:29Z [993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
|
| 32 |
+
2026-07-24T05:43:29Z [993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|
| 33 |
+
2026-07-24T05:43:29Z [994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
|
| 34 |
+
2026-07-24T05:43:29Z [994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|
| 35 |
+
2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
|
| 36 |
+
2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|
| 37 |
+
2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
|
| 38 |
+
2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|
| 39 |
+
2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
|
| 40 |
+
2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
|
| 41 |
+
|
| 42 |
+
|---------------------------------------------------------------------------------------------|
|
| 43 |
+
| Driver Version: 580.76.05 | Graphics API: Vulkan
|
| 44 |
+
|=============================================================================================|
|
| 45 |
+
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
|
| 46 |
+
| | | | | | Device-ID | UUID |
|
| 47 |
+
| | | | | | Bus-ID | |
|
| 48 |
+
|---------------------------------------------------------------------------------------------|
|
| 49 |
+
| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 |
|
| 50 |
+
| | | | | | 2b85 | 39e1d745.. |
|
| 51 |
+
| | | | | | 49 | |
|
| 52 |
+
|---------------------------------------------------------------------------------------------|
|
| 53 |
+
| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 |
|
| 54 |
+
| | | | | | 2b85 | 04e513b0.. |
|
| 55 |
+
| | | | | | 98 | |
|
| 56 |
+
|---------------------------------------------------------------------------------------------|
|
| 57 |
+
| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 |
|
| 58 |
+
| | | | | | 2b85 | f11f4483.. |
|
| 59 |
+
| | | | | | a8 | |
|
| 60 |
+
|---------------------------------------------------------------------------------------------|
|
| 61 |
+
| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 |
|
| 62 |
+
| | | | | | 2b85 | a151c906.. |
|
| 63 |
+
| | | | | | b8 | |
|
| 64 |
+
|=============================================================================================|
|
| 65 |
+
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
|
| 66 |
+
| Processor: Intel(R) Xeon(R) Platinum 8470Q
|
| 67 |
+
| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
|
| 68 |
+
| Core Usage Quota: 100
|
| 69 |
+
|---------------------------------------------------------------------------------------------|
|
| 70 |
+
| Total Memory (MB): 368640 | Free Memory: 226516
|
| 71 |
+
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|
| 72 |
+
|---------------------------------------------------------------------------------------------|
|
| 73 |
+
[1.767s] [ext: omni.materialx.libs-1.0.7] startup
|
| 74 |
+
[1.776s] [ext: omni.kit.loop-isaac-1.3.7] startup
|
| 75 |
+
[1.777s] [ext: omni.kit.test-2.0.1] startup
|
| 76 |
+
[1.821s] [ext: omni.kit.pipapi-0.0.0] startup
|
| 77 |
+
[1.821s] [ext: omni.usd.config-1.0.6] startup
|
| 78 |
+
[1.825s] [ext: omni.gpucompute.plugins-0.0.0] startup
|
| 79 |
+
[1.825s] [ext: omni.usd.libs-1.0.1] startup
|
| 80 |
+
[1.943s] [ext: omni.kit.pip_archive-0.0.0] startup
|
| 81 |
+
[1.943s] [ext: omni.mdl-56.0.3] startup
|
| 82 |
+
[1.966s] [ext: omni.iray.libs-0.0.0] startup
|
| 83 |
+
[1.974s] [ext: omni.mdl.neuraylib-0.2.12] startup
|
| 84 |
+
[1.977s] [ext: omni.kit.usd.mdl-1.1.5] startup
|
| 85 |
+
[2.083s] [ext: omni.kit.telemetry-0.5.2] startup
|
| 86 |
+
[2.119s] [ext: omni.appwindow-1.1.10] startup
|
| 87 |
+
2026-07-24T05:43:30Z [2,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 88 |
+
2026-07-24T05:43:30Z [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)
|
| 89 |
+
[2.124s] [ext: omni.kit.renderer.core-1.1.0] startup
|
| 90 |
+
2026-07-24T05:43:30Z [2,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 91 |
+
2026-07-24T05:43:30Z [2,117ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 92 |
+
2026-07-24T05:43:30Z [2,128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 93 |
+
2026-07-24T05:43:30Z [2,128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 94 |
+
[2.155s] [ext: omni.kit.renderer.capture-0.0.0] startup
|
| 95 |
+
[2.158s] [ext: omni.kit.renderer.imgui-2.0.5] startup
|
| 96 |
+
2026-07-24T05:43:30Z [2,136ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 97 |
+
2026-07-24T05:43:30Z [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)
|
| 98 |
+
2026-07-24T05:43:30Z [2,137ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 99 |
+
2026-07-24T05:43:30Z [2,137ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 100 |
+
2026-07-24T05:43:30Z [2,139ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 101 |
+
2026-07-24T05:43:30Z [2,139ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 102 |
+
[2.256s] [ext: omni.ui-2.27.1] startup
|
| 103 |
+
[2.268s] [ext: omni.kit.mainwindow-1.0.3] startup
|
| 104 |
+
[2.269s] [ext: carb.audio-0.1.0] startup
|
| 105 |
+
[2.299s] [ext: omni.uiaudio-1.0.0] startup
|
| 106 |
+
[2.300s] [ext: omni.kit.uiapp-0.0.0] startup
|
| 107 |
+
[2.300s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
|
| 108 |
+
[2.303s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
|
| 109 |
+
[2.310s] [ext: omni.usd.schema.semantics-0.0.0] startup
|
| 110 |
+
[2.314s] [ext: omni.usd.schema.audio-0.0.0] startup
|
| 111 |
+
[2.320s] [ext: omni.usd.schema.geospatial-0.0.0] startup
|
| 112 |
+
[2.325s] [ext: omni.usd.schema.anim-0.0.0] startup
|
| 113 |
+
[2.356s] [ext: omni.usd_resolver-1.0.0] startup
|
| 114 |
+
[2.360s] [ext: omni.usd.core-1.5.3] startup
|
| 115 |
+
[2.364s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
|
| 116 |
+
[2.388s] [ext: isaacsim.robot.schema-3.6.0] startup
|
| 117 |
+
[2.397s] [ext: omni.usd.schema.physx-107.3.26] startup
|
| 118 |
+
[2.432s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
|
| 119 |
+
[2.433s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
|
| 120 |
+
[2.433s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
|
| 121 |
+
[2.439s] [ext: omni.graph.exec-0.9.6] startup
|
| 122 |
+
[2.439s] [ext: omni.kit.actions.core-1.0.0] startup
|
| 123 |
+
[2.441s] [ext: omni.kit.usd_undo-0.1.8] startup
|
| 124 |
+
[2.442s] [ext: omni.kit.exec.core-0.13.4] startup
|
| 125 |
+
[2.443s] [ext: omni.kit.commands-1.4.10] startup
|
| 126 |
+
[2.447s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
|
| 127 |
+
[2.452s] [ext: omni.activity.core-1.0.3] startup
|
| 128 |
+
[2.455s] [ext: omni.resourcemonitor-107.0.1] startup
|
| 129 |
+
[2.457s] [ext: omni.timeline-1.0.14] startup
|
| 130 |
+
[2.458s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
|
| 131 |
+
[2.460s] [ext: usdrt.scenegraph-7.6.1] startup
|
| 132 |
+
[2.500s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
|
| 133 |
+
[2.502s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
|
| 134 |
+
[2.510s] [ext: omni.hydra.scene_delegate-0.3.4] startup
|
| 135 |
+
[2.516s] [ext: omni.usd-1.13.10] startup
|
| 136 |
+
[2.543s] [ext: omni.kit.asset_converter-5.0.17] startup
|
| 137 |
+
[2.556s] [ext: omni.index.libs-380600.8087.0] startup
|
| 138 |
+
[2.556s] [ext: omni.volume-0.5.2] startup
|
| 139 |
+
[2.559s] [ext: omni.ujitso.client-0.0.0] startup
|
| 140 |
+
[2.560s] [ext: omni.index-1.0.1] startup
|
| 141 |
+
[2.560s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
|
| 142 |
+
[2.561s] [ext: omni.hydra.rtx-1.0.0] startup
|
| 143 |
+
2026-07-24T05:43:31Z [2,559ms] [Warning] [omni.log] Source: omni.hydra was already registered.
|
| 144 |
+
[2.602s] [ext: omni.kit.notification_manager-1.0.10] startup
|
| 145 |
+
[2.604s] [ext: omni.kit.clipboard-1.0.5] startup
|
| 146 |
+
[2.605s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
|
| 147 |
+
[2.608s] [ext: omni.kit.raycast.query-1.1.0] startup
|
| 148 |
+
[2.614s] [ext: omni.kit.menu.core-1.1.2] startup
|
| 149 |
+
[2.615s] [ext: omni.kit.widget.options_menu-1.1.6] startup
|
| 150 |
+
[2.618s] [ext: omni.kit.helper.file_utils-0.1.9] startup
|
| 151 |
+
[2.619s] [ext: omni.kit.widget.path_field-2.0.11] startup
|
| 152 |
+
[2.620s] [ext: omni.kit.widget.context_menu-1.2.5] startup
|
| 153 |
+
[2.621s] [ext: omni.kit.widget.options_button-1.0.3] startup
|
| 154 |
+
[2.622s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
|
| 155 |
+
[2.629s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
|
| 156 |
+
[2.629s] [ext: omni.kit.usd.layers-2.2.11] startup
|
| 157 |
+
[2.639s] [ext: omni.ui.scene-1.11.5] startup
|
| 158 |
+
[2.643s] [ext: omni.kit.viewport.registry-104.0.6] startup
|
| 159 |
+
[2.644s] [ext: omni.kit.window.filepicker-2.13.4] startup
|
| 160 |
+
[2.658s] [ext: omni.kit.menu.utils-2.0.5] startup
|
| 161 |
+
[2.665s] [ext: omni.kit.context_menu-1.8.6] startup
|
| 162 |
+
[2.667s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
|
| 163 |
+
[2.673s] [ext: omni.kit.hydra_texture-1.4.6] startup
|
| 164 |
+
[2.677s] [ext: omni.kit.window.file_importer-1.1.18] startup
|
| 165 |
+
[2.679s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
|
| 166 |
+
[2.680s] [ext: omni.kit.window.drop_support-1.0.5] startup
|
| 167 |
+
[2.680s] [ext: omni.kit.widget.viewport-107.1.3] startup
|
| 168 |
+
[2.684s] [ext: omni.kit.material.library-2.0.7] startup
|
| 169 |
+
[2.689s] [ext: omni.hydra.engine.stats-1.0.3] startup
|
| 170 |
+
[2.693s] [ext: omni.kit.widget.settings-1.2.6] startup
|
| 171 |
+
[2.694s] [ext: omni.kit.viewport.window-107.2.0] startup
|
| 172 |
+
[2.713s] [ext: omni.kit.window.preferences-1.8.0] startup
|
| 173 |
+
[2.718s] [ext: omni.kit.widget.toolbar-2.0.1] startup
|
| 174 |
+
[2.723s] [ext: omni.kit.viewport.utility-1.1.2] startup
|
| 175 |
+
[2.723s] [ext: omni.kit.manipulator.transform-107.0.0] startup
|
| 176 |
+
[2.728s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
|
| 177 |
+
[2.732s] [ext: omni.kit.manipulator.selector-1.1.3] startup
|
| 178 |
+
[2.733s] [ext: omni.kit.property.adapter.core-1.0.2] startup
|
| 179 |
+
[2.735s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
|
| 180 |
+
[2.736s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
|
| 181 |
+
[2.737s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
|
| 182 |
+
[2.738s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
|
| 183 |
+
[2.745s] [ext: omni.kit.primitive.mesh-1.0.17] startup
|
| 184 |
+
[2.748s] [ext: omni.kit.widget.filter-1.1.4] startup
|
| 185 |
+
[2.748s] [ext: omni.kit.hotkeys.core-1.3.10] startup
|
| 186 |
+
[2.750s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
|
| 187 |
+
[2.751s] [ext: omni.fabric.commands-1.1.6] startup
|
| 188 |
+
[2.754s] [ext: omni.kit.window.file_exporter-1.0.33] startup
|
| 189 |
+
[2.755s] [ext: omni.kit.widget.searchfield-1.1.8] startup
|
| 190 |
+
[2.757s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
|
| 191 |
+
[2.758s] [ext: omni.debugdraw-0.1.4] startup
|
| 192 |
+
[2.762s] [ext: omni.kit.widget.stage-3.1.4] startup
|
| 193 |
+
[2.773s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
|
| 194 |
+
[2.774s] [ext: omni.kit.manipulator.prim-107.0.0] startup
|
| 195 |
+
[2.774s] [ext: omni.kvdb-107.3.26] startup
|
| 196 |
+
[2.776s] [ext: omni.convexdecomposition-107.3.26] startup
|
| 197 |
+
[2.779s] [ext: omni.physx.foundation-107.3.26] startup
|
| 198 |
+
[2.781s] [ext: omni.localcache-107.3.26] startup
|
| 199 |
+
[2.782s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
|
| 200 |
+
[2.783s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
|
| 201 |
+
[2.784s] [ext: omni.kit.stage_template.core-1.1.22] startup
|
| 202 |
+
[2.784s] [ext: omni.usdphysics-107.3.26] startup
|
| 203 |
+
[2.787s] [ext: omni.kit.window.file-2.0.5] startup
|
| 204 |
+
[2.790s] [ext: omni.physx.cooking-107.3.26] startup
|
| 205 |
+
[2.793s] [ext: omni.physics-107.3.26] startup
|
| 206 |
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[2.797s] [ext: omni.kit.window.property-1.12.1] startup
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2026-07-24T05:43:31Z [2,896ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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/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!
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2026-07-24T05:43:33Z [5,103ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
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2026-07-24T05:43:34Z [5,686ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
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2026-07-24T05:43:34Z [5,686ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
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2026-07-24T05:43:34Z [5,687ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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|
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+
[8.310s] Simulation App Starting
|
| 366 |
+
2026-07-24T05:43:37Z [8,366ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
|
| 367 |
+
2026-07-24T05:43:37Z [8,371ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
|
| 368 |
+
2026-07-24T05:43:37Z [8,371ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
|
| 369 |
+
2026-07-24T05:43:37Z [8,371ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)}
|
| 370 |
+
2026-07-24T05:43:37Z [8,402ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
|
| 371 |
+
|
| 372 |
+
2026-07-24T05:43:37Z [8,443ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
|
| 373 |
+
2026-07-24T05:43:37Z [8,444ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
|
| 374 |
+
2026-07-24T05:43:37Z [8,444ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
|
| 375 |
+
[8.484s] app ready
|
| 376 |
+
2026-07-24T05:43:37Z [9,005ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
|
| 377 |
+
2026-07-24T05:43:37Z [9,005ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
|
| 378 |
+
2026-07-24T05:43:37Z [9,005ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
|
| 379 |
+
2026-07-24T05:43:37Z [9,006ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
|
| 380 |
+
[12.315s] Simulation App Startup Complete
|
| 381 |
+
[collect] main entered
|
| 382 |
+
[collect] building env cfg
|
| 383 |
+
[collect] creating eval env
|
| 384 |
+
[collect] eval env ready
|
| 385 |
+
[collect] eval_layout_seed=0 episode_seed_base=30 seed_count=1
|
| 386 |
+
[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
|
| 387 |
+
[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
|
| 388 |
+
[collect] reset demo=0 seed=30
|
| 389 |
+
[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
|
| 390 |
+
|
| 391 |
+
[36m======================================================================================[0m
|
| 392 |
+
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_13-43-59.log[0m
|
| 393 |
+
[36m======================================================================================[0m
|
| 394 |
+
|
| 395 |
+
[33m13:43:59 [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.[0m
|
| 396 |
+
[INFO]: Base environment:
|
| 397 |
+
Environment device : cpu
|
| 398 |
+
Environment seed : 30
|
| 399 |
+
Physics step-size : 0.004
|
| 400 |
+
Rendering step-size : 0.04
|
| 401 |
+
Environment step-size : 0.004
|
| 402 |
+
2026-07-24T05:44:00Z [31,248ms] [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
|
| 403 |
+
2026-07-24T05:44:00Z [31,359ms] [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.
|
| 404 |
+
2026-07-24T05:44:00Z [31,379ms] [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.
|
| 405 |
+
2026-07-24T05:44:00Z [31,391ms] [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.
|
| 406 |
+
[INFO]: Time taken for scene creation : 0.474887 seconds
|
| 407 |
+
[INFO]: Scene manager: <class InteractiveScene>
|
| 408 |
+
Number of environments: 1
|
| 409 |
+
Environment spacing : 7
|
| 410 |
+
Source prim name : /World/envs/env_0
|
| 411 |
+
Global prim paths : []
|
| 412 |
+
Replicate physics : False
|
| 413 |
+
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
|
| 414 |
+
2026-07-24T05:44:00Z [31,408ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot0/camera/visuals/camera/World/mesh.material:binding>: The relationship target </OmniKit_Viewport_LightRig/Looks/Ground_Material> from </X5A/camera/visuals/camera/World/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot0>. Ignoring. (getting targets for relationship </World/envs/env_0/robot0/camera/visuals/camera/World/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 415 |
+
|
| 416 |
+
2026-07-24T05:44:00Z [31,415ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot1/camera/visuals/camera/World/mesh.material:binding>: The relationship target </OmniKit_Viewport_LightRig/Looks/Ground_Material> from </X5A/camera/visuals/camera/World/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot1>. Ignoring. (getting targets for relationship </World/envs/env_0/robot1/camera/visuals/camera/World/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 417 |
+
|
| 418 |
+
2026-07-24T05:44:00Z [31,898ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot0/camera/visuals/camera/World/mesh.material:binding>: The relationship target </OmniKit_Viewport_LightRig/Looks/Ground_Material> from </X5A/camera/visuals/camera/World/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot0>. Ignoring. (getting targets for relationship </World/envs/env_0/robot0/camera/visuals/camera/World/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 419 |
+
|
| 420 |
+
2026-07-24T05:44:00Z [31,898ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot1/camera/visuals/camera/World/mesh.material:binding>: The relationship target </OmniKit_Viewport_LightRig/Looks/Ground_Material> from </X5A/camera/visuals/camera/World/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot1>. Ignoring. (getting targets for relationship </World/envs/env_0/robot1/camera/visuals/camera/World/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 421 |
+
|
| 422 |
+
2026-07-24T05:44:00Z [31,901ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot1/camera/visuals/camera/World/mesh.material:binding>: The relationship target </OmniKit_Viewport_LightRig/Looks/Ground_Material> from </X5A/camera/visuals/camera/World/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot1>. Ignoring. (getting targets for relationship </World/envs/env_0/robot1/camera/visuals/camera/World/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 423 |
+
|
| 424 |
+
2026-07-24T05:44:00Z [31,902ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot1/link3/visuals/link3/node_STL_BINARY_/mesh.material:binding>: The relationship target </Flattened_Prototype_9/camera/World/Looks/ID10> from </X5A/link3/visuals/link3/node_STL_BINARY_/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot1>. Ignoring. (getting targets for relationship </World/envs/env_0/robot1/link3/visuals/link3/node_STL_BINARY_/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 425 |
+
|
| 426 |
+
2026-07-24T05:44:00Z [31,902ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot0/camera/visuals/camera/World/mesh.material:binding>: The relationship target </OmniKit_Viewport_LightRig/Looks/Ground_Material> from </X5A/camera/visuals/camera/World/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot0>. Ignoring. (getting targets for relationship </World/envs/env_0/robot0/camera/visuals/camera/World/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 427 |
+
|
| 428 |
+
2026-07-24T05:44:00Z [31,902ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </World/envs/env_0/robot0/link3/visuals/link3/node_STL_BINARY_/mesh.material:binding>: The relationship target </Flattened_Prototype_9/camera/World/Looks/ID10> from </X5A/link3/visuals/link3/node_STL_BINARY_/mesh.material:binding> in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from </World/envs/env_0/robot0>. Ignoring. (getting targets for relationship </World/envs/env_0/robot0/link3/visuals/link3/node_STL_BINARY_/mesh.material:binding> on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>)
|
| 429 |
+
|
| 430 |
+
[INFO]: Time taken for simulation start : 0.734814 seconds
|
| 431 |
+
[INFO]: Completed setting up the environment...
|
| 432 |
+
[INFO] Resetting all environments
|
| 433 |
+
2026-07-24T05:44:09Z [40,213ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
|
| 434 |
+
2026-07-24T05:44:09Z [40,487ms] [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
|
| 435 |
+
2026-07-24T05:44:09Z [40,487ms] [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
|
| 436 |
+
2026-07-24T05:44:09Z [40,487ms] [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
|
| 437 |
+
2026-07-24T05:44:09Z [40,487ms] [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
|
| 438 |
+
2026-07-24T05:44:20Z [52,035ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
|
| 439 |
+
[collect][auto_swap_T] reset demo=0 seed=30
|
| 440 |
+
[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.08004699647426605, -0.17819499969482422, 0.7724999785423279], 'quat': [-0.6510249972343445, 0.0, 0.0, 0.7590569853782654]}, 't1': {'center': [0.06340400129556656, -0.19785800576210022, 0.7724999785423279], 'quat': [0.7851470112800598, -9.999999974752427e-07, -9.999999974752427e-07, 0.6193100214004517]}}
|
| 441 |
+
[collect][auto_swap_T] left_pick label=t0 center=[-0.07999999821186066, -0.17820000648498535, 0.7724999785423279] pick_tcp=[-0.08160000294446945, -0.18809999525547028, 0.7724999785423279] waypoints=32
|
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[collect] demo=0 step=1/400
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[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True
|
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+
[collect][auto_swap_T] left_stage observed=[-0.07999999821186066, -0.17820000648498535, 0.7724999785423279] target=[-0.1988999992609024, -0.16189999878406525, 0.7724999785423279] waypoints=14
|
| 477 |
+
[collect][auto_swap_T] phase=left_stage waypoints=14
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[collect][auto_swap_T] captured_left_grasp object_center=[-0.2054000049829483, -0.1453000009059906, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15160000324249268, -0.00019999999494757503, 0.0142000000923872]
|
| 494 |
+
[collect][auto_swap_T] right_pick label=t1 center=[0.06340000033378601, -0.19789999723434448, 0.7724999785423279] pick_tcp=[0.065700002014637, -0.18809999525547028, 0.7724999785423279] waypoints=32
|
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+
[collect][auto_swap_T] phase=right_pick waypoints=32
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[collect] demo=0 step=47/400
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[collect][auto_swap_T] right_stage observed=[0.08789999783039093, -0.19499999284744263, 0.7731000185012817] target=[0.18230000138282776, -0.2142000049352646, 0.7724999785423279] waypoints=12
|
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+
[collect][auto_swap_T] phase=right_stage waypoints=12
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[collect][auto_swap_T] captured_right_grasp object_center=[0.18140000104904175, -0.21449999511241913, 0.7731000185012817] lifted=0.0006 ee_to_object_pos=[0.14910000562667847, -9.999999747378752e-05, -0.015599999576807022]
|
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+
[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=154.71
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[collect][auto_swap_T] captured_right_grasp object_center=[0.20520000159740448, -0.2240999937057495, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.14990000426769257, -9.999999747378752e-05, -0.016100000590085983]
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[collect][auto_swap_T] right_detour obstacle=[0.06340000033378601, -0.19789999723434448, 0.7724999785423279] waypoint=[0.039400000125169754, -0.37290000915527344, 0.792900025844574] clearance=0.1767
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[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07999999821186066, -0.17820000648498535, 0.7724999785423279] waypoints=49
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[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, 0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.15539999306201935, 0.21359999477863312, 0.13300000131130219], 'rot_deg': 93.28, 'real': [0.14499999582767487, -0.1386999934911728, 1.0544999837875366, 0.21490000188350677, -0.5472000241279602, -0.28780001401901245, 0.7559999823570251], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}]
|
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[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0]
|
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[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, -0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.02969999983906746, 0.12630000710487366, 0.13269999623298645], 'rot_deg': 40.89, 'real': [0.27079999446868896, -0.22599999606609344, 1.0542000532150269, 0.590399980545044, -0.3021000027656555, -0.14259999990463257, 0.7347000241279602], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}]
|
| 845 |
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[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0]
|
| 846 |
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[collect][auto_swap_T] phase=final_home_left waypoints=1
|
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[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_regv45_seed30_official400.hdf5
|
| 853 |
+
2026-07-24T05:46:13Z [164,568ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
|
| 854 |
+
2026-07-24T05:46:13Z [164,568ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
|
| 855 |
+
[164.980s] Simulation App Shutting Down
|