Add swap_T dataset without .gitattributes changes

yzr/swap_T/assets_manifest.tsv

@@ -0,0 +1,165 @@
+seed	run_id	asset_type	local_path	path_in_repo	bytes
+0	swap_T_generalized10_item02_seed0	log	outputs/logs/swap_T_generalized10_item02_seed0.log	yzr/swap_T/logs/swap_T_generalized10_item02_seed0.log	60619
+0	swap_T_generalized10_item02_seed0	video	outputs/videos/swap_T_generalized10_item02_seed0/swap_T_generalized10_item02_seed0_swap_T_auto_swap_T/demo_0000_seed_0/cam_head.mp4	yzr/swap_T/videos/swap_T_generalized10_item02_seed0/swap_T_generalized10_item02_seed0_swap_T_auto_swap_T/demo_0000_seed_0/cam_head.mp4	3735972
+0	swap_T_generalized10_item02_seed0	video	outputs/videos/swap_T_generalized10_item02_seed0/swap_T_generalized10_item02_seed0_swap_T_auto_swap_T/demo_0000_seed_0/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_generalized10_item02_seed0/swap_T_generalized10_item02_seed0_swap_T_auto_swap_T/demo_0000_seed_0/cam_left_wrist.mp4	3232745
+0	swap_T_generalized10_item02_seed0	video	outputs/videos/swap_T_generalized10_item02_seed0/swap_T_generalized10_item02_seed0_swap_T_auto_swap_T/demo_0000_seed_0/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_generalized10_item02_seed0/swap_T_generalized10_item02_seed0_swap_T_auto_swap_T/demo_0000_seed_0/cam_right_wrist.mp4	2564212
+1	swap_T_parallel_air_align_seed1	log	outputs/logs/swap_T_parallel_air_align_seed1.log	yzr/swap_T/logs/swap_T_parallel_air_align_seed1.log	60756
+1	swap_T_parallel_air_align_seed1	video	outputs/videos/swap_T_parallel_air_align_seed1/swap_T_parallel_air_align_seed1_swap_T_auto_swap_T/demo_0000_seed_1/cam_head.mp4	yzr/swap_T/videos/swap_T_parallel_air_align_seed1/swap_T_parallel_air_align_seed1_swap_T_auto_swap_T/demo_0000_seed_1/cam_head.mp4	3735777
+1	swap_T_parallel_air_align_seed1	video	outputs/videos/swap_T_parallel_air_align_seed1/swap_T_parallel_air_align_seed1_swap_T_auto_swap_T/demo_0000_seed_1/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_parallel_air_align_seed1/swap_T_parallel_air_align_seed1_swap_T_auto_swap_T/demo_0000_seed_1/cam_left_wrist.mp4	3169964
+1	swap_T_parallel_air_align_seed1	video	outputs/videos/swap_T_parallel_air_align_seed1/swap_T_parallel_air_align_seed1_swap_T_auto_swap_T/demo_0000_seed_1/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_parallel_air_align_seed1/swap_T_parallel_air_align_seed1_swap_T_auto_swap_T/demo_0000_seed_1/cam_right_wrist.mp4	2605234
+2	swap_T_hybridv16_seed2_official400	log	outputs/logs/swap_T_hybridv16_seed2_official400.log	yzr/swap_T/logs/swap_T_hybridv16_seed2_official400.log	58897
+2	swap_T_hybridv16_seed2_official400	video	outputs/videos/swap_T_hybridv16_seed2_official400/swap_T_hybridv16_seed2_official400_swap_T_auto_swap_T/demo_0000_seed_2/cam_head.mp4	yzr/swap_T/videos/swap_T_hybridv16_seed2_official400/swap_T_hybridv16_seed2_official400_swap_T_auto_swap_T/demo_0000_seed_2/cam_head.mp4	2985422
+2	swap_T_hybridv16_seed2_official400	video	outputs/videos/swap_T_hybridv16_seed2_official400/swap_T_hybridv16_seed2_official400_swap_T_auto_swap_T/demo_0000_seed_2/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_hybridv16_seed2_official400/swap_T_hybridv16_seed2_official400_swap_T_auto_swap_T/demo_0000_seed_2/cam_left_wrist.mp4	2216939
+2	swap_T_hybridv16_seed2_official400	video	outputs/videos/swap_T_hybridv16_seed2_official400/swap_T_hybridv16_seed2_official400_swap_T_auto_swap_T/demo_0000_seed_2/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_hybridv16_seed2_official400/swap_T_hybridv16_seed2_official400_swap_T_auto_swap_T/demo_0000_seed_2/cam_right_wrist.mp4	2267864
+3	swap_T_rightliftv17_seed3_diag600b	log	outputs/logs/swap_T_rightliftv17_seed3_diag600b.log	yzr/swap_T/logs/swap_T_rightliftv17_seed3_diag600b.log	65461
+3	swap_T_rightliftv17_seed3_diag600b	video	outputs/videos/swap_T_rightliftv17_seed3_diag600b/swap_T_rightliftv17_seed3_diag600b_swap_T_auto_swap_T/demo_0000_seed_3/cam_head.mp4	yzr/swap_T/videos/swap_T_rightliftv17_seed3_diag600b/swap_T_rightliftv17_seed3_diag600b_swap_T_auto_swap_T/demo_0000_seed_3/cam_head.mp4	4118218
+3	swap_T_rightliftv17_seed3_diag600b	video	outputs/videos/swap_T_rightliftv17_seed3_diag600b/swap_T_rightliftv17_seed3_diag600b_swap_T_auto_swap_T/demo_0000_seed_3/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_rightliftv17_seed3_diag600b/swap_T_rightliftv17_seed3_diag600b_swap_T_auto_swap_T/demo_0000_seed_3/cam_left_wrist.mp4	3259344
+3	swap_T_rightliftv17_seed3_diag600b	video	outputs/videos/swap_T_rightliftv17_seed3_diag600b/swap_T_rightliftv17_seed3_diag600b_swap_T_auto_swap_T/demo_0000_seed_3/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_rightliftv17_seed3_diag600b/swap_T_rightliftv17_seed3_diag600b_swap_T_auto_swap_T/demo_0000_seed_3/cam_right_wrist.mp4	2859869
+4	swap_T_calv8_seed4_official400	log	outputs/logs/swap_T_calv8_seed4_official400.log	yzr/swap_T/logs/swap_T_calv8_seed4_official400.log	62968
+4	swap_T_calv8_seed4_official400	video	outputs/videos/swap_T_calv8_seed4_official400/swap_T_calv8_seed4_official400_swap_T_auto_swap_T/demo_0000_seed_4/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed4_official400/swap_T_calv8_seed4_official400_swap_T_auto_swap_T/demo_0000_seed_4/cam_head.mp4	3568595
+4	swap_T_calv8_seed4_official400	video	outputs/videos/swap_T_calv8_seed4_official400/swap_T_calv8_seed4_official400_swap_T_auto_swap_T/demo_0000_seed_4/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed4_official400/swap_T_calv8_seed4_official400_swap_T_auto_swap_T/demo_0000_seed_4/cam_left_wrist.mp4	2741822
+4	swap_T_calv8_seed4_official400	video	outputs/videos/swap_T_calv8_seed4_official400/swap_T_calv8_seed4_official400_swap_T_auto_swap_T/demo_0000_seed_4/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed4_official400/swap_T_calv8_seed4_official400_swap_T_auto_swap_T/demo_0000_seed_4/cam_right_wrist.mp4	2614532
+5	swap_T_finalv6_seed5_official400	log	outputs/logs/swap_T_finalv6_seed5_official400.log	yzr/swap_T/logs/swap_T_finalv6_seed5_official400.log	62426
+5	swap_T_finalv6_seed5_official400	video	outputs/videos/swap_T_finalv6_seed5_official400/swap_T_finalv6_seed5_official400_swap_T_auto_swap_T/demo_0000_seed_5/cam_head.mp4	yzr/swap_T/videos/swap_T_finalv6_seed5_official400/swap_T_finalv6_seed5_official400_swap_T_auto_swap_T/demo_0000_seed_5/cam_head.mp4	3409620
+5	swap_T_finalv6_seed5_official400	video	outputs/videos/swap_T_finalv6_seed5_official400/swap_T_finalv6_seed5_official400_swap_T_auto_swap_T/demo_0000_seed_5/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed5_official400/swap_T_finalv6_seed5_official400_swap_T_auto_swap_T/demo_0000_seed_5/cam_left_wrist.mp4	2601799
+5	swap_T_finalv6_seed5_official400	video	outputs/videos/swap_T_finalv6_seed5_official400/swap_T_finalv6_seed5_official400_swap_T_auto_swap_T/demo_0000_seed_5/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed5_official400/swap_T_finalv6_seed5_official400_swap_T_auto_swap_T/demo_0000_seed_5/cam_right_wrist.mp4	2346874
+7	swap_T_regv39_seed7_official400	log	outputs/logs/swap_T_regv39_seed7_official400.log	yzr/swap_T/logs/swap_T_regv39_seed7_official400.log	64646
+7	swap_T_regv39_seed7_official400	video	outputs/videos/swap_T_regv39_seed7_official400/swap_T_regv39_seed7_official400_swap_T_auto_swap_T/demo_0000_seed_7/cam_head.mp4	yzr/swap_T/videos/swap_T_regv39_seed7_official400/swap_T_regv39_seed7_official400_swap_T_auto_swap_T/demo_0000_seed_7/cam_head.mp4	3416348
+7	swap_T_regv39_seed7_official400	video	outputs/videos/swap_T_regv39_seed7_official400/swap_T_regv39_seed7_official400_swap_T_auto_swap_T/demo_0000_seed_7/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_regv39_seed7_official400/swap_T_regv39_seed7_official400_swap_T_auto_swap_T/demo_0000_seed_7/cam_left_wrist.mp4	2578183
+7	swap_T_regv39_seed7_official400	video	outputs/videos/swap_T_regv39_seed7_official400/swap_T_regv39_seed7_official400_swap_T_auto_swap_T/demo_0000_seed_7/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_regv39_seed7_official400/swap_T_regv39_seed7_official400_swap_T_auto_swap_T/demo_0000_seed_7/cam_right_wrist.mp4	2282245
+8	swap_T_regv51_seed8_official400	log	outputs/logs/swap_T_regv51_seed8_official400.log	yzr/swap_T/logs/swap_T_regv51_seed8_official400.log	70005
+8	swap_T_regv51_seed8_official400	video	outputs/videos/swap_T_regv51_seed8_official400/swap_T_regv51_seed8_official400_swap_T_auto_swap_T/demo_0000_seed_8/cam_head.mp4	yzr/swap_T/videos/swap_T_regv51_seed8_official400/swap_T_regv51_seed8_official400_swap_T_auto_swap_T/demo_0000_seed_8/cam_head.mp4	4115866
+8	swap_T_regv51_seed8_official400	video	outputs/videos/swap_T_regv51_seed8_official400/swap_T_regv51_seed8_official400_swap_T_auto_swap_T/demo_0000_seed_8/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_regv51_seed8_official400/swap_T_regv51_seed8_official400_swap_T_auto_swap_T/demo_0000_seed_8/cam_left_wrist.mp4	2632619
+8	swap_T_regv51_seed8_official400	video	outputs/videos/swap_T_regv51_seed8_official400/swap_T_regv51_seed8_official400_swap_T_auto_swap_T/demo_0000_seed_8/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_regv51_seed8_official400/swap_T_regv51_seed8_official400_swap_T_auto_swap_T/demo_0000_seed_8/cam_right_wrist.mp4	3327636
+10	swap_T_finalv6_seed10_official400	log	outputs/logs/swap_T_finalv6_seed10_official400.log	yzr/swap_T/logs/swap_T_finalv6_seed10_official400.log	63224
+10	swap_T_finalv6_seed10_official400	video	outputs/videos/swap_T_finalv6_seed10_official400/swap_T_finalv6_seed10_official400_swap_T_auto_swap_T/demo_0000_seed_10/cam_head.mp4	yzr/swap_T/videos/swap_T_finalv6_seed10_official400/swap_T_finalv6_seed10_official400_swap_T_auto_swap_T/demo_0000_seed_10/cam_head.mp4	3615323
+10	swap_T_finalv6_seed10_official400	video	outputs/videos/swap_T_finalv6_seed10_official400/swap_T_finalv6_seed10_official400_swap_T_auto_swap_T/demo_0000_seed_10/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed10_official400/swap_T_finalv6_seed10_official400_swap_T_auto_swap_T/demo_0000_seed_10/cam_left_wrist.mp4	2648214
+10	swap_T_finalv6_seed10_official400	video	outputs/videos/swap_T_finalv6_seed10_official400/swap_T_finalv6_seed10_official400_swap_T_auto_swap_T/demo_0000_seed_10/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed10_official400/swap_T_finalv6_seed10_official400_swap_T_auto_swap_T/demo_0000_seed_10/cam_right_wrist.mp4	2691208
+11	swap_T_officialv25_seed11_official400	log	outputs/logs/swap_T_officialv25_seed11_official400.log	yzr/swap_T/logs/swap_T_officialv25_seed11_official400.log	65431
+11	swap_T_officialv25_seed11_official400	video	outputs/videos/swap_T_officialv25_seed11_official400/swap_T_officialv25_seed11_official400_swap_T_auto_swap_T/demo_0000_seed_11/cam_head.mp4	yzr/swap_T/videos/swap_T_officialv25_seed11_official400/swap_T_officialv25_seed11_official400_swap_T_auto_swap_T/demo_0000_seed_11/cam_head.mp4	3881791
+11	swap_T_officialv25_seed11_official400	video	outputs/videos/swap_T_officialv25_seed11_official400/swap_T_officialv25_seed11_official400_swap_T_auto_swap_T/demo_0000_seed_11/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_officialv25_seed11_official400/swap_T_officialv25_seed11_official400_swap_T_auto_swap_T/demo_0000_seed_11/cam_left_wrist.mp4	2856553
+11	swap_T_officialv25_seed11_official400	video	outputs/videos/swap_T_officialv25_seed11_official400/swap_T_officialv25_seed11_official400_swap_T_auto_swap_T/demo_0000_seed_11/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_officialv25_seed11_official400/swap_T_officialv25_seed11_official400_swap_T_auto_swap_T/demo_0000_seed_11/cam_right_wrist.mp4	2596899
+12	swap_T_overheadhomev18_seed12_diag600	log	outputs/logs/swap_T_overheadhomev18_seed12_diag600.log	yzr/swap_T/logs/swap_T_overheadhomev18_seed12_diag600.log	65851
+12	swap_T_overheadhomev18_seed12_diag600	video	outputs/videos/swap_T_overheadhomev18_seed12_diag600/swap_T_overheadhomev18_seed12_diag600_swap_T_auto_swap_T/demo_0000_seed_12/cam_head.mp4	yzr/swap_T/videos/swap_T_overheadhomev18_seed12_diag600/swap_T_overheadhomev18_seed12_diag600_swap_T_auto_swap_T/demo_0000_seed_12/cam_head.mp4	3997768
+12	swap_T_overheadhomev18_seed12_diag600	video	outputs/videos/swap_T_overheadhomev18_seed12_diag600/swap_T_overheadhomev18_seed12_diag600_swap_T_auto_swap_T/demo_0000_seed_12/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_overheadhomev18_seed12_diag600/swap_T_overheadhomev18_seed12_diag600_swap_T_auto_swap_T/demo_0000_seed_12/cam_left_wrist.mp4	2974335
+12	swap_T_overheadhomev18_seed12_diag600	video	outputs/videos/swap_T_overheadhomev18_seed12_diag600/swap_T_overheadhomev18_seed12_diag600_swap_T_auto_swap_T/demo_0000_seed_12/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_overheadhomev18_seed12_diag600/swap_T_overheadhomev18_seed12_diag600_swap_T_auto_swap_T/demo_0000_seed_12/cam_right_wrist.mp4	2835954
+14	swap_T_finalv4_seed14_official400	log	outputs/logs/swap_T_finalv4_seed14_official400.log	yzr/swap_T/logs/swap_T_finalv4_seed14_official400.log	61564
+14	swap_T_finalv4_seed14_official400	video	outputs/videos/swap_T_finalv4_seed14_official400/swap_T_finalv4_seed14_official400_swap_T_auto_swap_T/demo_0000_seed_14/cam_head.mp4	yzr/swap_T/videos/swap_T_finalv4_seed14_official400/swap_T_finalv4_seed14_official400_swap_T_auto_swap_T/demo_0000_seed_14/cam_head.mp4	3309715
+14	swap_T_finalv4_seed14_official400	video	outputs/videos/swap_T_finalv4_seed14_official400/swap_T_finalv4_seed14_official400_swap_T_auto_swap_T/demo_0000_seed_14/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_finalv4_seed14_official400/swap_T_finalv4_seed14_official400_swap_T_auto_swap_T/demo_0000_seed_14/cam_left_wrist.mp4	2419396
+14	swap_T_finalv4_seed14_official400	video	outputs/videos/swap_T_finalv4_seed14_official400/swap_T_finalv4_seed14_official400_swap_T_auto_swap_T/demo_0000_seed_14/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_finalv4_seed14_official400/swap_T_finalv4_seed14_official400_swap_T_auto_swap_T/demo_0000_seed_14/cam_right_wrist.mp4	2709404
+15	swap_T_stagegatev23_seed15_diag700	log	outputs/logs/swap_T_stagegatev23_seed15_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed15_diag700.log	63487
+15	swap_T_stagegatev23_seed15_diag700	video	outputs/videos/swap_T_stagegatev23_seed15_diag700/swap_T_stagegatev23_seed15_diag700_swap_T_auto_swap_T/demo_0000_seed_15/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed15_diag700/swap_T_stagegatev23_seed15_diag700_swap_T_auto_swap_T/demo_0000_seed_15/cam_head.mp4	3438211
+15	swap_T_stagegatev23_seed15_diag700	video	outputs/videos/swap_T_stagegatev23_seed15_diag700/swap_T_stagegatev23_seed15_diag700_swap_T_auto_swap_T/demo_0000_seed_15/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed15_diag700/swap_T_stagegatev23_seed15_diag700_swap_T_auto_swap_T/demo_0000_seed_15/cam_left_wrist.mp4	2281706
+15	swap_T_stagegatev23_seed15_diag700	video	outputs/videos/swap_T_stagegatev23_seed15_diag700/swap_T_stagegatev23_seed15_diag700_swap_T_auto_swap_T/demo_0000_seed_15/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed15_diag700/swap_T_stagegatev23_seed15_diag700_swap_T_auto_swap_T/demo_0000_seed_15/cam_right_wrist.mp4	2846040
+16	swap_T_officialv40_seed16_official400	log	outputs/logs/swap_T_officialv40_seed16_official400.log	yzr/swap_T/logs/swap_T_officialv40_seed16_official400.log	68468
+16	swap_T_officialv40_seed16_official400	video	outputs/videos/swap_T_officialv40_seed16_official400/swap_T_officialv40_seed16_official400_swap_T_auto_swap_T/demo_0000_seed_16/cam_head.mp4	yzr/swap_T/videos/swap_T_officialv40_seed16_official400/swap_T_officialv40_seed16_official400_swap_T_auto_swap_T/demo_0000_seed_16/cam_head.mp4	4095037
+16	swap_T_officialv40_seed16_official400	video	outputs/videos/swap_T_officialv40_seed16_official400/swap_T_officialv40_seed16_official400_swap_T_auto_swap_T/demo_0000_seed_16/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_officialv40_seed16_official400/swap_T_officialv40_seed16_official400_swap_T_auto_swap_T/demo_0000_seed_16/cam_left_wrist.mp4	2950951
+16	swap_T_officialv40_seed16_official400	video	outputs/videos/swap_T_officialv40_seed16_official400/swap_T_officialv40_seed16_official400_swap_T_auto_swap_T/demo_0000_seed_16/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_officialv40_seed16_official400/swap_T_officialv40_seed16_official400_swap_T_auto_swap_T/demo_0000_seed_16/cam_right_wrist.mp4	2785885
+17	swap_T_finalv6_seed17_official400	log	outputs/logs/swap_T_finalv6_seed17_official400.log	yzr/swap_T/logs/swap_T_finalv6_seed17_official400.log	61004
+17	swap_T_finalv6_seed17_official400	video	outputs/videos/swap_T_finalv6_seed17_official400/swap_T_finalv6_seed17_official400_swap_T_auto_swap_T/demo_0000_seed_17/cam_head.mp4	yzr/swap_T/videos/swap_T_finalv6_seed17_official400/swap_T_finalv6_seed17_official400_swap_T_auto_swap_T/demo_0000_seed_17/cam_head.mp4	3208690
+17	swap_T_finalv6_seed17_official400	video	outputs/videos/swap_T_finalv6_seed17_official400/swap_T_finalv6_seed17_official400_swap_T_auto_swap_T/demo_0000_seed_17/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed17_official400/swap_T_finalv6_seed17_official400_swap_T_auto_swap_T/demo_0000_seed_17/cam_left_wrist.mp4	2300323
+17	swap_T_finalv6_seed17_official400	video	outputs/videos/swap_T_finalv6_seed17_official400/swap_T_finalv6_seed17_official400_swap_T_auto_swap_T/demo_0000_seed_17/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed17_official400/swap_T_finalv6_seed17_official400_swap_T_auto_swap_T/demo_0000_seed_17/cam_right_wrist.mp4	2343733
+19	swap_T_regv65_seed19_official400	log	outputs/logs/swap_T_regv65_seed19_official400.log	yzr/swap_T/logs/swap_T_regv65_seed19_official400.log	67951
+19	swap_T_regv65_seed19_official400	video	outputs/videos/swap_T_regv65_seed19_official400/swap_T_regv65_seed19_official400_swap_T_auto_swap_T/demo_0000_seed_19/cam_head.mp4	yzr/swap_T/videos/swap_T_regv65_seed19_official400/swap_T_regv65_seed19_official400_swap_T_auto_swap_T/demo_0000_seed_19/cam_head.mp4	3625502
+19	swap_T_regv65_seed19_official400	video	outputs/videos/swap_T_regv65_seed19_official400/swap_T_regv65_seed19_official400_swap_T_auto_swap_T/demo_0000_seed_19/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_regv65_seed19_official400/swap_T_regv65_seed19_official400_swap_T_auto_swap_T/demo_0000_seed_19/cam_left_wrist.mp4	2415677
+19	swap_T_regv65_seed19_official400	video	outputs/videos/swap_T_regv65_seed19_official400/swap_T_regv65_seed19_official400_swap_T_auto_swap_T/demo_0000_seed_19/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_regv65_seed19_official400/swap_T_regv65_seed19_official400_swap_T_auto_swap_T/demo_0000_seed_19/cam_right_wrist.mp4	3246741
+21	swap_T_finalv6_seed21_official400	log	outputs/logs/swap_T_finalv6_seed21_official400.log	yzr/swap_T/logs/swap_T_finalv6_seed21_official400.log	66134
+21	swap_T_finalv6_seed21_official400	video	outputs/videos/swap_T_finalv6_seed21_official400/swap_T_finalv6_seed21_official400_swap_T_auto_swap_T/demo_0000_seed_21/cam_head.mp4	yzr/swap_T/videos/swap_T_finalv6_seed21_official400/swap_T_finalv6_seed21_official400_swap_T_auto_swap_T/demo_0000_seed_21/cam_head.mp4	3765933
+21	swap_T_finalv6_seed21_official400	video	outputs/videos/swap_T_finalv6_seed21_official400/swap_T_finalv6_seed21_official400_swap_T_auto_swap_T/demo_0000_seed_21/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed21_official400/swap_T_finalv6_seed21_official400_swap_T_auto_swap_T/demo_0000_seed_21/cam_left_wrist.mp4	2974164
+21	swap_T_finalv6_seed21_official400	video	outputs/videos/swap_T_finalv6_seed21_official400/swap_T_finalv6_seed21_official400_swap_T_auto_swap_T/demo_0000_seed_21/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed21_official400/swap_T_finalv6_seed21_official400_swap_T_auto_swap_T/demo_0000_seed_21/cam_right_wrist.mp4	2777355
+22	swap_T_calv8_seed22_official400	log	outputs/logs/swap_T_calv8_seed22_official400.log	yzr/swap_T/logs/swap_T_calv8_seed22_official400.log	62498
+22	swap_T_calv8_seed22_official400	video	outputs/videos/swap_T_calv8_seed22_official400/swap_T_calv8_seed22_official400_swap_T_auto_swap_T/demo_0000_seed_22/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed22_official400/swap_T_calv8_seed22_official400_swap_T_auto_swap_T/demo_0000_seed_22/cam_head.mp4	3433086
+22	swap_T_calv8_seed22_official400	video	outputs/videos/swap_T_calv8_seed22_official400/swap_T_calv8_seed22_official400_swap_T_auto_swap_T/demo_0000_seed_22/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed22_official400/swap_T_calv8_seed22_official400_swap_T_auto_swap_T/demo_0000_seed_22/cam_left_wrist.mp4	2385491
+22	swap_T_calv8_seed22_official400	video	outputs/videos/swap_T_calv8_seed22_official400/swap_T_calv8_seed22_official400_swap_T_auto_swap_T/demo_0000_seed_22/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed22_official400/swap_T_calv8_seed22_official400_swap_T_auto_swap_T/demo_0000_seed_22/cam_right_wrist.mp4	2770686
+23	swap_T_officialv31_seed23_official400	log	outputs/logs/swap_T_officialv31_seed23_official400.log	yzr/swap_T/logs/swap_T_officialv31_seed23_official400.log	66654
+23	swap_T_officialv31_seed23_official400	video	outputs/videos/swap_T_officialv31_seed23_official400/swap_T_officialv31_seed23_official400_swap_T_auto_swap_T/demo_0000_seed_23/cam_head.mp4	yzr/swap_T/videos/swap_T_officialv31_seed23_official400/swap_T_officialv31_seed23_official400_swap_T_auto_swap_T/demo_0000_seed_23/cam_head.mp4	3920023
+23	swap_T_officialv31_seed23_official400	video	outputs/videos/swap_T_officialv31_seed23_official400/swap_T_officialv31_seed23_official400_swap_T_auto_swap_T/demo_0000_seed_23/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_officialv31_seed23_official400/swap_T_officialv31_seed23_official400_swap_T_auto_swap_T/demo_0000_seed_23/cam_left_wrist.mp4	3215623
+23	swap_T_officialv31_seed23_official400	video	outputs/videos/swap_T_officialv31_seed23_official400/swap_T_officialv31_seed23_official400_swap_T_auto_swap_T/demo_0000_seed_23/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_officialv31_seed23_official400/swap_T_officialv31_seed23_official400_swap_T_auto_swap_T/demo_0000_seed_23/cam_right_wrist.mp4	3042184
+24	swap_T_stagegatev23_seed24_diag700	log	outputs/logs/swap_T_stagegatev23_seed24_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed24_diag700.log	62262
+24	swap_T_stagegatev23_seed24_diag700	video	outputs/videos/swap_T_stagegatev23_seed24_diag700/swap_T_stagegatev23_seed24_diag700_swap_T_auto_swap_T/demo_0000_seed_24/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed24_diag700/swap_T_stagegatev23_seed24_diag700_swap_T_auto_swap_T/demo_0000_seed_24/cam_head.mp4	3414783
+24	swap_T_stagegatev23_seed24_diag700	video	outputs/videos/swap_T_stagegatev23_seed24_diag700/swap_T_stagegatev23_seed24_diag700_swap_T_auto_swap_T/demo_0000_seed_24/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed24_diag700/swap_T_stagegatev23_seed24_diag700_swap_T_auto_swap_T/demo_0000_seed_24/cam_left_wrist.mp4	2348122
+24	swap_T_stagegatev23_seed24_diag700	video	outputs/videos/swap_T_stagegatev23_seed24_diag700/swap_T_stagegatev23_seed24_diag700_swap_T_auto_swap_T/demo_0000_seed_24/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed24_diag700/swap_T_stagegatev23_seed24_diag700_swap_T_auto_swap_T/demo_0000_seed_24/cam_right_wrist.mp4	2589673
+26	swap_T_finalv6_seed26_official400	log	outputs/logs/swap_T_finalv6_seed26_official400.log	yzr/swap_T/logs/swap_T_finalv6_seed26_official400.log	60977
+26	swap_T_finalv6_seed26_official400	video	outputs/videos/swap_T_finalv6_seed26_official400/swap_T_finalv6_seed26_official400_swap_T_auto_swap_T/demo_0000_seed_26/cam_head.mp4	yzr/swap_T/videos/swap_T_finalv6_seed26_official400/swap_T_finalv6_seed26_official400_swap_T_auto_swap_T/demo_0000_seed_26/cam_head.mp4	3221480
+26	swap_T_finalv6_seed26_official400	video	outputs/videos/swap_T_finalv6_seed26_official400/swap_T_finalv6_seed26_official400_swap_T_auto_swap_T/demo_0000_seed_26/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed26_official400/swap_T_finalv6_seed26_official400_swap_T_auto_swap_T/demo_0000_seed_26/cam_left_wrist.mp4	2502078
+26	swap_T_finalv6_seed26_official400	video	outputs/videos/swap_T_finalv6_seed26_official400/swap_T_finalv6_seed26_official400_swap_T_auto_swap_T/demo_0000_seed_26/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_finalv6_seed26_official400/swap_T_finalv6_seed26_official400_swap_T_auto_swap_T/demo_0000_seed_26/cam_right_wrist.mp4	2494027
+27	swap_T_calv8_seed27_official400	log	outputs/logs/swap_T_calv8_seed27_official400.log	yzr/swap_T/logs/swap_T_calv8_seed27_official400.log	63693
+27	swap_T_calv8_seed27_official400	video	outputs/videos/swap_T_calv8_seed27_official400/swap_T_calv8_seed27_official400_swap_T_auto_swap_T/demo_0000_seed_27/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed27_official400/swap_T_calv8_seed27_official400_swap_T_auto_swap_T/demo_0000_seed_27/cam_head.mp4	3599616
+27	swap_T_calv8_seed27_official400	video	outputs/videos/swap_T_calv8_seed27_official400/swap_T_calv8_seed27_official400_swap_T_auto_swap_T/demo_0000_seed_27/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed27_official400/swap_T_calv8_seed27_official400_swap_T_auto_swap_T/demo_0000_seed_27/cam_left_wrist.mp4	2576712
+27	swap_T_calv8_seed27_official400	video	outputs/videos/swap_T_calv8_seed27_official400/swap_T_calv8_seed27_official400_swap_T_auto_swap_T/demo_0000_seed_27/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed27_official400/swap_T_calv8_seed27_official400_swap_T_auto_swap_T/demo_0000_seed_27/cam_right_wrist.mp4	2827406
+29	swap_T_calv8_seed29_official400	log	outputs/logs/swap_T_calv8_seed29_official400.log	yzr/swap_T/logs/swap_T_calv8_seed29_official400.log	63420
+29	swap_T_calv8_seed29_official400	video	outputs/videos/swap_T_calv8_seed29_official400/swap_T_calv8_seed29_official400_swap_T_auto_swap_T/demo_0000_seed_29/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed29_official400/swap_T_calv8_seed29_official400_swap_T_auto_swap_T/demo_0000_seed_29/cam_head.mp4	3685857
+29	swap_T_calv8_seed29_official400	video	outputs/videos/swap_T_calv8_seed29_official400/swap_T_calv8_seed29_official400_swap_T_auto_swap_T/demo_0000_seed_29/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed29_official400/swap_T_calv8_seed29_official400_swap_T_auto_swap_T/demo_0000_seed_29/cam_left_wrist.mp4	2744442
+29	swap_T_calv8_seed29_official400	video	outputs/videos/swap_T_calv8_seed29_official400/swap_T_calv8_seed29_official400_swap_T_auto_swap_T/demo_0000_seed_29/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed29_official400/swap_T_calv8_seed29_official400_swap_T_auto_swap_T/demo_0000_seed_29/cam_right_wrist.mp4	2500645
+30	swap_T_regv45_seed30_official400	log	outputs/logs/swap_T_regv45_seed30_official400.log	yzr/swap_T/logs/swap_T_regv45_seed30_official400.log	66486
+30	swap_T_regv45_seed30_official400	video	outputs/videos/swap_T_regv45_seed30_official400/swap_T_regv45_seed30_official400_swap_T_auto_swap_T/demo_0000_seed_30/cam_head.mp4	yzr/swap_T/videos/swap_T_regv45_seed30_official400/swap_T_regv45_seed30_official400_swap_T_auto_swap_T/demo_0000_seed_30/cam_head.mp4	3575221
+30	swap_T_regv45_seed30_official400	video	outputs/videos/swap_T_regv45_seed30_official400/swap_T_regv45_seed30_official400_swap_T_auto_swap_T/demo_0000_seed_30/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_regv45_seed30_official400/swap_T_regv45_seed30_official400_swap_T_auto_swap_T/demo_0000_seed_30/cam_left_wrist.mp4	2765089
+30	swap_T_regv45_seed30_official400	video	outputs/videos/swap_T_regv45_seed30_official400/swap_T_regv45_seed30_official400_swap_T_auto_swap_T/demo_0000_seed_30/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_regv45_seed30_official400/swap_T_regv45_seed30_official400_swap_T_auto_swap_T/demo_0000_seed_30/cam_right_wrist.mp4	2499949
+32	swap_T_stagegatev23_seed32_diag700	log	outputs/logs/swap_T_stagegatev23_seed32_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed32_diag700.log	66504
+32	swap_T_stagegatev23_seed32_diag700	video	outputs/videos/swap_T_stagegatev23_seed32_diag700/swap_T_stagegatev23_seed32_diag700_swap_T_auto_swap_T/demo_0000_seed_32/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed32_diag700/swap_T_stagegatev23_seed32_diag700_swap_T_auto_swap_T/demo_0000_seed_32/cam_head.mp4	3797821
+32	swap_T_stagegatev23_seed32_diag700	video	outputs/videos/swap_T_stagegatev23_seed32_diag700/swap_T_stagegatev23_seed32_diag700_swap_T_auto_swap_T/demo_0000_seed_32/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed32_diag700/swap_T_stagegatev23_seed32_diag700_swap_T_auto_swap_T/demo_0000_seed_32/cam_left_wrist.mp4	2748737
+32	swap_T_stagegatev23_seed32_diag700	video	outputs/videos/swap_T_stagegatev23_seed32_diag700/swap_T_stagegatev23_seed32_diag700_swap_T_auto_swap_T/demo_0000_seed_32/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed32_diag700/swap_T_stagegatev23_seed32_diag700_swap_T_auto_swap_T/demo_0000_seed_32/cam_right_wrist.mp4	3053447
+35	swap_T_stagegatev23_seed35_diag700	log	outputs/logs/swap_T_stagegatev23_seed35_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed35_diag700.log	62822
+35	swap_T_stagegatev23_seed35_diag700	video	outputs/videos/swap_T_stagegatev23_seed35_diag700/swap_T_stagegatev23_seed35_diag700_swap_T_auto_swap_T/demo_0000_seed_35/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed35_diag700/swap_T_stagegatev23_seed35_diag700_swap_T_auto_swap_T/demo_0000_seed_35/cam_head.mp4	3586351
+35	swap_T_stagegatev23_seed35_diag700	video	outputs/videos/swap_T_stagegatev23_seed35_diag700/swap_T_stagegatev23_seed35_diag700_swap_T_auto_swap_T/demo_0000_seed_35/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed35_diag700/swap_T_stagegatev23_seed35_diag700_swap_T_auto_swap_T/demo_0000_seed_35/cam_left_wrist.mp4	2457524
+35	swap_T_stagegatev23_seed35_diag700	video	outputs/videos/swap_T_stagegatev23_seed35_diag700/swap_T_stagegatev23_seed35_diag700_swap_T_auto_swap_T/demo_0000_seed_35/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed35_diag700/swap_T_stagegatev23_seed35_diag700_swap_T_auto_swap_T/demo_0000_seed_35/cam_right_wrist.mp4	2462463
+36	swap_T_stagegatev23_seed36_diag700	log	outputs/logs/swap_T_stagegatev23_seed36_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed36_diag700.log	64079
+36	swap_T_stagegatev23_seed36_diag700	video	outputs/videos/swap_T_stagegatev23_seed36_diag700/swap_T_stagegatev23_seed36_diag700_swap_T_auto_swap_T/demo_0000_seed_36/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed36_diag700/swap_T_stagegatev23_seed36_diag700_swap_T_auto_swap_T/demo_0000_seed_36/cam_head.mp4	3657502
+36	swap_T_stagegatev23_seed36_diag700	video	outputs/videos/swap_T_stagegatev23_seed36_diag700/swap_T_stagegatev23_seed36_diag700_swap_T_auto_swap_T/demo_0000_seed_36/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed36_diag700/swap_T_stagegatev23_seed36_diag700_swap_T_auto_swap_T/demo_0000_seed_36/cam_left_wrist.mp4	2594437
+36	swap_T_stagegatev23_seed36_diag700	video	outputs/videos/swap_T_stagegatev23_seed36_diag700/swap_T_stagegatev23_seed36_diag700_swap_T_auto_swap_T/demo_0000_seed_36/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed36_diag700/swap_T_stagegatev23_seed36_diag700_swap_T_auto_swap_T/demo_0000_seed_36/cam_right_wrist.mp4	2570048
+38	swap_T_stagegatev23_seed38_diag700	log	outputs/logs/swap_T_stagegatev23_seed38_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed38_diag700.log	62420
+38	swap_T_stagegatev23_seed38_diag700	video	outputs/videos/swap_T_stagegatev23_seed38_diag700/swap_T_stagegatev23_seed38_diag700_swap_T_auto_swap_T/demo_0000_seed_38/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed38_diag700/swap_T_stagegatev23_seed38_diag700_swap_T_auto_swap_T/demo_0000_seed_38/cam_head.mp4	3306949
+38	swap_T_stagegatev23_seed38_diag700	video	outputs/videos/swap_T_stagegatev23_seed38_diag700/swap_T_stagegatev23_seed38_diag700_swap_T_auto_swap_T/demo_0000_seed_38/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed38_diag700/swap_T_stagegatev23_seed38_diag700_swap_T_auto_swap_T/demo_0000_seed_38/cam_left_wrist.mp4	2334803
+38	swap_T_stagegatev23_seed38_diag700	video	outputs/videos/swap_T_stagegatev23_seed38_diag700/swap_T_stagegatev23_seed38_diag700_swap_T_auto_swap_T/demo_0000_seed_38/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed38_diag700/swap_T_stagegatev23_seed38_diag700_swap_T_auto_swap_T/demo_0000_seed_38/cam_right_wrist.mp4	2691977
+39	swap_T_officialv65_seed39_official400	log	outputs/logs/swap_T_officialv65_seed39_official400.log	yzr/swap_T/logs/swap_T_officialv65_seed39_official400.log	8835368
+39	swap_T_officialv65_seed39_official400	video	outputs/videos/swap_T_officialv65_seed39_official400/swap_T_officialv65_seed39_official400_swap_T_auto_swap_T/demo_0000_seed_39/cam_head.mp4	yzr/swap_T/videos/swap_T_officialv65_seed39_official400/swap_T_officialv65_seed39_official400_swap_T_auto_swap_T/demo_0000_seed_39/cam_head.mp4	3961326
+39	swap_T_officialv65_seed39_official400	video	outputs/videos/swap_T_officialv65_seed39_official400/swap_T_officialv65_seed39_official400_swap_T_auto_swap_T/demo_0000_seed_39/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_officialv65_seed39_official400/swap_T_officialv65_seed39_official400_swap_T_auto_swap_T/demo_0000_seed_39/cam_left_wrist.mp4	2944362
+39	swap_T_officialv65_seed39_official400	video	outputs/videos/swap_T_officialv65_seed39_official400/swap_T_officialv65_seed39_official400_swap_T_auto_swap_T/demo_0000_seed_39/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_officialv65_seed39_official400/swap_T_officialv65_seed39_official400_swap_T_auto_swap_T/demo_0000_seed_39/cam_right_wrist.mp4	3594327
+40	swap_T_stagegatev23_seed40_diag700	log	outputs/logs/swap_T_stagegatev23_seed40_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed40_diag700.log	64414
+40	swap_T_stagegatev23_seed40_diag700	video	outputs/videos/swap_T_stagegatev23_seed40_diag700/swap_T_stagegatev23_seed40_diag700_swap_T_auto_swap_T/demo_0000_seed_40/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed40_diag700/swap_T_stagegatev23_seed40_diag700_swap_T_auto_swap_T/demo_0000_seed_40/cam_head.mp4	3726998
+40	swap_T_stagegatev23_seed40_diag700	video	outputs/videos/swap_T_stagegatev23_seed40_diag700/swap_T_stagegatev23_seed40_diag700_swap_T_auto_swap_T/demo_0000_seed_40/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed40_diag700/swap_T_stagegatev23_seed40_diag700_swap_T_auto_swap_T/demo_0000_seed_40/cam_left_wrist.mp4	2554294
+40	swap_T_stagegatev23_seed40_diag700	video	outputs/videos/swap_T_stagegatev23_seed40_diag700/swap_T_stagegatev23_seed40_diag700_swap_T_auto_swap_T/demo_0000_seed_40/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed40_diag700/swap_T_stagegatev23_seed40_diag700_swap_T_auto_swap_T/demo_0000_seed_40/cam_right_wrist.mp4	2952080
+42	swap_T_officialv29_seed42_official400	log	outputs/logs/swap_T_officialv29_seed42_official400.log	yzr/swap_T/logs/swap_T_officialv29_seed42_official400.log	61786
+42	swap_T_officialv29_seed42_official400	video	outputs/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_head.mp4	yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_head.mp4	3302993
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+43	swap_T_calv8_seed43_official400	video	outputs/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_head.mp4	3238982
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+43	swap_T_calv8_seed43_official400	video	outputs/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_right_wrist.mp4	2521035
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+45	swap_T_calv8_seed45_official400	video	outputs/videos/swap_T_calv8_seed45_official400/swap_T_calv8_seed45_official400_swap_T_auto_swap_T/demo_0000_seed_45/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed45_official400/swap_T_calv8_seed45_official400_swap_T_auto_swap_T/demo_0000_seed_45/cam_head.mp4	3563295
+45	swap_T_calv8_seed45_official400	video	outputs/videos/swap_T_calv8_seed45_official400/swap_T_calv8_seed45_official400_swap_T_auto_swap_T/demo_0000_seed_45/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed45_official400/swap_T_calv8_seed45_official400_swap_T_auto_swap_T/demo_0000_seed_45/cam_left_wrist.mp4	2521053
+45	swap_T_calv8_seed45_official400	video	outputs/videos/swap_T_calv8_seed45_official400/swap_T_calv8_seed45_official400_swap_T_auto_swap_T/demo_0000_seed_45/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed45_official400/swap_T_calv8_seed45_official400_swap_T_auto_swap_T/demo_0000_seed_45/cam_right_wrist.mp4	2813267
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+46	swap_T_calv8_seed46_official400	video	outputs/videos/swap_T_calv8_seed46_official400/swap_T_calv8_seed46_official400_swap_T_auto_swap_T/demo_0000_seed_46/cam_head.mp4	yzr/swap_T/videos/swap_T_calv8_seed46_official400/swap_T_calv8_seed46_official400_swap_T_auto_swap_T/demo_0000_seed_46/cam_head.mp4	3841959
+46	swap_T_calv8_seed46_official400	video	outputs/videos/swap_T_calv8_seed46_official400/swap_T_calv8_seed46_official400_swap_T_auto_swap_T/demo_0000_seed_46/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed46_official400/swap_T_calv8_seed46_official400_swap_T_auto_swap_T/demo_0000_seed_46/cam_left_wrist.mp4	2888965
+46	swap_T_calv8_seed46_official400	video	outputs/videos/swap_T_calv8_seed46_official400/swap_T_calv8_seed46_official400_swap_T_auto_swap_T/demo_0000_seed_46/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_calv8_seed46_official400/swap_T_calv8_seed46_official400_swap_T_auto_swap_T/demo_0000_seed_46/cam_right_wrist.mp4	2983621
+47	swap_T_officialv32_seed47_official400	log	outputs/logs/swap_T_officialv32_seed47_official400.log	yzr/swap_T/logs/swap_T_officialv32_seed47_official400.log	65634
+47	swap_T_officialv32_seed47_official400	video	outputs/videos/swap_T_officialv32_seed47_official400/swap_T_officialv32_seed47_official400_swap_T_auto_swap_T/demo_0000_seed_47/cam_head.mp4	yzr/swap_T/videos/swap_T_officialv32_seed47_official400/swap_T_officialv32_seed47_official400_swap_T_auto_swap_T/demo_0000_seed_47/cam_head.mp4	3916709
+47	swap_T_officialv32_seed47_official400	video	outputs/videos/swap_T_officialv32_seed47_official400/swap_T_officialv32_seed47_official400_swap_T_auto_swap_T/demo_0000_seed_47/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_officialv32_seed47_official400/swap_T_officialv32_seed47_official400_swap_T_auto_swap_T/demo_0000_seed_47/cam_left_wrist.mp4	3341551
+47	swap_T_officialv32_seed47_official400	video	outputs/videos/swap_T_officialv32_seed47_official400/swap_T_officialv32_seed47_official400_swap_T_auto_swap_T/demo_0000_seed_47/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_officialv32_seed47_official400/swap_T_officialv32_seed47_official400_swap_T_auto_swap_T/demo_0000_seed_47/cam_right_wrist.mp4	2571747
+48	swap_T_stagegatev23_seed48_diag700	log	outputs/logs/swap_T_stagegatev23_seed48_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed48_diag700.log	64980
+48	swap_T_stagegatev23_seed48_diag700	video	outputs/videos/swap_T_stagegatev23_seed48_diag700/swap_T_stagegatev23_seed48_diag700_swap_T_auto_swap_T/demo_0000_seed_48/cam_head.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed48_diag700/swap_T_stagegatev23_seed48_diag700_swap_T_auto_swap_T/demo_0000_seed_48/cam_head.mp4	3646354
+48	swap_T_stagegatev23_seed48_diag700	video	outputs/videos/swap_T_stagegatev23_seed48_diag700/swap_T_stagegatev23_seed48_diag700_swap_T_auto_swap_T/demo_0000_seed_48/cam_left_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed48_diag700/swap_T_stagegatev23_seed48_diag700_swap_T_auto_swap_T/demo_0000_seed_48/cam_left_wrist.mp4	2624431
+48	swap_T_stagegatev23_seed48_diag700	video	outputs/videos/swap_T_stagegatev23_seed48_diag700/swap_T_stagegatev23_seed48_diag700_swap_T_auto_swap_T/demo_0000_seed_48/cam_right_wrist.mp4	yzr/swap_T/videos/swap_T_stagegatev23_seed48_diag700/swap_T_stagegatev23_seed48_diag700_swap_T_auto_swap_T/demo_0000_seed_48/cam_right_wrist.mp4	2797737
+49	swap_T_stagegatev23_seed49_diag700	log	outputs/logs/swap_T_stagegatev23_seed49_diag700.log	yzr/swap_T/logs/swap_T_stagegatev23_seed49_diag700.log	64614
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+[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_042714.log
+[0.071s] [ext: omni.kit.async_engine-0.0.3] startup
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+[0.290s] [ext: omni.blobkey-1.1.2] startup
+[0.290s] [ext: omni.stats-1.0.1] startup
+[0.291s] [ext: omni.datastore-0.0.0] startup
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+[0.303s] [ext: omni.ujitso.default-1.0.0] startup
+[0.305s] [ext: omni.hsscclient-1.1.2] startup
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+[0.338s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T20:27:14Z [311ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:14Z [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)
+[0.339s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T20:27:14Z [485ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T20:27:14Z [498ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T20:27:14Z [498ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T20:27:14Z [498ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T20:27:14Z [537ms] [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:
+- 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.
+2026-07-23T20:27:16Z [2,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:16Z [2,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:16Z [2,136ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:16Z [2,136ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:16Z [2,138ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:16Z [2,138ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:16Z [2,139ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:16Z [2,140ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:16Z [2,140ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:16Z [2,140ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:16Z [2,140ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:16Z [2,140ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          | Yes: 0 |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 17285
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
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+2026-07-23T20:27:18Z [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)
+[4.083s] [ext: omni.kit.renderer.core-1.1.0] startup
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+2026-07-23T20:27:18Z [4,079ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T20:27:18Z [4,088ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:18Z [4,088ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[4.117s] [ext: omni.kit.renderer.capture-0.0.0] startup
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+2026-07-23T20:27:18Z [4,095ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:18Z [4,096ms] [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)
+2026-07-23T20:27:18Z [4,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:18Z [4,097ms] [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)
+2026-07-23T20:27:18Z [4,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:18Z [4,098ms] [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)
+[4.227s] [ext: omni.ui-2.27.1] startup
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+2026-07-23T20:27:18Z [4,511ms] [Warning] [omni.log] Source: omni.hydra was already registered.
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+2026-07-23T20:27:18Z [4,764ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[4.792s] [ext: omni.kit.widget.prompt-1.0.7] startup
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+2026-07-23T20:27:19Z [4,861ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[4.889s] [ext: omni.physx.ui-107.3.26] startup
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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!
+  warnings.warn(
+[7.010s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T20:27:21Z [6,990ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+[7.020s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
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+2026-07-23T20:27:21Z [7,443ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T20:27:21Z [7,443ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T20:27:21Z [7,445ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[7.478s] [ext: isaacsim.core.api-4.8.0] startup
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+[8.262s] [ext: omni.kit.manipulator.camera-106.0.4] startup
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+[8.526s] [ext: omni.kit.property.bundle-1.4.1] startup
+[8.612s] [ext: isaacsim.sensors.rtx-15.8.4] startup
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+[8.804s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[8.863s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[8.886s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[8.944s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[8.955s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[8.960s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[8.988s] [ext: omni.kit.window.console-1.1.4] startup
+[9.005s] [ext: omni.rtx.window.settings-0.6.19] startup
+[9.023s] [ext: omni.ocio-0.1.1] startup
+[9.032s] [ext: omni.physx.demos-107.3.26] startup
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+[9.134s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
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+[9.318s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[9.337s] [ext: omni.kit.window.script_editor-2.0.1] startup
+[9.343s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
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+[9.369s] [ext: omni.kit.window.toolbar-2.0.0] startup
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+[9.506s] [ext: omni.physx.telemetry-107.3.26] startup
+[9.516s] [ext: isaaclab-0.54.3] startup
+[9.832s] [ext: isaaclab_contrib-0.0.2] startup
+[9.835s] [ext: isaacsim.core.throttling-2.2.2] startup
+[9.838s] [ext: omni.kit.ui.actions-1.0.5] startup
+[9.844s] [ext: semantics.schema.property-2.0.1] startup
+[9.848s] [ext: omni.physx.bundle-107.3.26] startup
+[9.850s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[9.856s] [ext: isaaclab_assets-0.2.4] startup
+[10.174s] [ext: isaaclab_tasks-0.11.14] startup
+[10.343s] [ext: omni.kit.menu.common-2.0.1] startup
+[10.345s] [ext: isaaclab_rl-0.5.0] startup
+[10.348s] [ext: isaaclab_mimic-1.0.16] startup
+[10.350s] [ext: isaaclab.python-2.3.2] startup
+[10.354s] Simulation App Starting
+2026-07-23T20:27:24Z [10,416ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T20:27:24Z [10,421ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T20:27:24Z [10,421ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T20:27:24Z [10,421ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T20:27:24Z [10,456ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[10.517s] app ready
+2026-07-23T20:27:25Z [11,401ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T20:27:25Z [11,402ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T20:27:25Z [11,402ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T20:27:25Z [11,402ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[15.194s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=22 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=22
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-27-47.log
+======================================================================================
+
+04:27:47 [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      : 22
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T20:27:48Z [33,879ms] [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
+2026-07-23T20:27:48Z [33,987ms] [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.
+2026-07-23T20:27:48Z [34,003ms] [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.
+2026-07-23T20:27:48Z [34,017ms] [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 : 0.466812 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T20:27:48Z [34,032ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,039ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,681ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,681ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,685ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,686ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,686ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+2026-07-23T20:27:48Z [34,686ms] [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:0x558c546ca4b0:World0.usd@ <0x558c546cb4b0>)
+
+[INFO]: Time taken for simulation start : 0.928997 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T20:27:56Z [42,742ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T20:28:03Z [49,657ms] [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
+2026-07-23T20:28:03Z [49,657ms] [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
+2026-07-23T20:28:03Z [49,657ms] [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
+2026-07-23T20:28:03Z [49,657ms] [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
+2026-07-23T20:28:08Z [54,615ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=22
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.05408399924635887, -0.18499499559402466, 0.7724999785423279], 'quat': [0.7475410103797913, -0.0, -9.999999974752427e-07, 0.6642159819602966]}, 't1': {'center': [0.0807420015335083, -0.17516599595546722, 0.7724999785423279], 'quat': [0.7045469880104065, -9.999999974752427e-07, -9.999999974752427e-07, 0.7096580266952515]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.054099999368190765, -0.1850000023841858, 0.7724999785423279] pick_tcp=[-0.05290000140666962, -0.17509999871253967, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
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+[collect][auto_swap_T] left_stage observed=[-0.07079999893903732, -0.18140000104904175, 0.7724999785423279] target=[-0.1738000065088272, -0.19370000064373016, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=left_stage waypoints=13
+[collect] demo=0 step=41/400
+env0 step: 41 / 400
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+[collect][auto_swap_T] captured_left_grasp object_center=[-0.1785999983549118, -0.188400000333786, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.14970000088214874, -0.00039999998989515007, -0.01360000018030405]
+[collect][auto_swap_T] right_pick label=t1 center=[0.08070000261068344, -0.17520000040531158, 0.7724999785423279] pick_tcp=[0.08070000261068344, -0.16519999504089355, 0.7724999785423279] waypoints=39
+[collect][auto_swap_T] phase=right_pick waypoints=39
+[collect] demo=0 step=54/400
+env0 step: 54 / 400
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+[collect][auto_swap_T] right_pick label=t1 center=[0.0885000005364418, -0.16820000112056732, 0.7735999822616577] pick_tcp=[0.09239999949932098, -0.1590999960899353, 0.7734000086784363] waypoints=31
+[collect][auto_swap_T] right_pickup_retry reason=probe offset_deg=0.0 waypoints=31
+[collect] demo=0 step=93/400
+env0 step: 93 / 400
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+[collect][auto_swap_T] right_stage observed=[0.09920000284910202, -0.15880000591278076, 0.7738000154495239] target=[0.2003999948501587, -0.1664000004529953, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=right_stage waypoints=13
+[collect] demo=0 step=124/400
+env0 step: 124 / 400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.20200000703334808, -0.16760000586509705, 0.7738000154495239] lifted=0.0013 ee_to_object_pos=[0.14949999749660492, 0.0005000000237487257, -0.010300000198185444]
+[collect] demo=0 step=137/400
+env0 step: 137 / 400
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+[collect] demo=0 step=151/400
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+[collect] demo=0 step=155/400
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+[collect] demo=0 step=176/400
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+[collect] demo=0 step=196/400
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+[collect] demo=0 step=216/400
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+[collect] demo=0 step=236/400
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+[collect][auto_swap_T] right_detour obstacle=[0.08070000261068344, -0.17520000040531158, 0.7724999785423279] waypoint=[0.09239999949932098, -0.33489999175071716, 0.7735999822616577] clearance=0.1602
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.054099999368190765, -0.1850000023841858, 0.7724999785423279] waypoints=49
+[collect][auto_swap_T] phase=right_place waypoints=49
+[collect] demo=0 step=247/400
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+[collect] demo=0 step=296/400
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+[collect] demo=0 step=300/400
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+[collect] demo=0 step=305/400
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+[collect] demo=0 step=315/400
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+[collect] demo=0 step=320/400
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+[collect] demo=0 step=329/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed22_official400.hdf5
+2026-07-23T20:29:48Z [154,594ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:29:48Z [154,594ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[155.010s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed27_official400.log

@@ -0,0 +1,846 @@
+[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_045625.log
+[0.069s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.218s] [ext: omni.metrics.core-0.0.3] startup
+[0.218s] [ext: omni.client.lib-1.1.0] startup
+[0.233s] [ext: omni.blobkey-1.1.2] startup
+[0.233s] [ext: omni.stats-1.0.1] startup
+[0.234s] [ext: omni.datastore-0.0.0] startup
+[0.240s] [ext: omni.client-1.3.0] startup
+[0.247s] [ext: omni.ujitso.default-1.0.0] startup
+[0.248s] [ext: omni.hsscclient-1.1.2] startup
+[0.283s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.285s] [ext: omni.assets.plugins-0.0.0] startup
+[0.287s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.294s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T20:56:25Z [268ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:25Z [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)
+[0.295s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T20:56:26Z [355ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T20:56:26Z [361ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T20:56:26Z [361ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T20:56:26Z [361ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T20:56:26Z [416ms] [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:
+- 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.
+2026-07-23T20:56:26Z [970ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:56:26Z [970ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:56:26Z [971ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:56:26Z [971ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:56:26Z [972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:56:26Z [972ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 25878
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[1.720s] [ext: omni.materialx.libs-1.0.7] startup
+[1.729s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[1.730s] [ext: omni.kit.test-2.0.1] startup
+[1.773s] [ext: omni.kit.pipapi-0.0.0] startup
+[1.774s] [ext: omni.usd.config-1.0.6] startup
+[1.777s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[1.777s] [ext: omni.usd.libs-1.0.1] startup
+[1.885s] [ext: omni.kit.pip_archive-0.0.0] startup
+[1.885s] [ext: omni.mdl-56.0.3] startup
+[1.907s] [ext: omni.iray.libs-0.0.0] startup
+[1.913s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[1.915s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[2.017s] [ext: omni.kit.telemetry-0.5.2] startup
+[2.067s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T20:56:27Z [2,041ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:27Z [2,041ms] [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)
+[2.071s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-07-23T20:56:27Z [2,062ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:27Z [2,062ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T20:56:27Z [2,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:27Z [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)
+[2.100s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[2.102s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-07-23T20:56:27Z [2,079ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:27Z [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)
+2026-07-23T20:56:27Z [2,080ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:27Z [2,080ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T20:56:27Z [2,081ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:56:27Z [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)
+[2.198s] [ext: omni.ui-2.27.1] startup
+[2.209s] [ext: omni.kit.mainwindow-1.0.3] startup
+[2.211s] [ext: carb.audio-0.1.0] startup
+[2.238s] [ext: omni.uiaudio-1.0.0] startup
+[2.239s] [ext: omni.kit.uiapp-0.0.0] startup
+[2.239s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[2.242s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[2.250s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[2.254s] [ext: omni.usd.schema.audio-0.0.0] startup
+[2.257s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[2.261s] [ext: omni.usd.schema.anim-0.0.0] startup
+[2.285s] [ext: omni.usd_resolver-1.0.0] startup
+[2.291s] [ext: omni.usd.core-1.5.3] startup
+[2.294s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[2.320s] [ext: isaacsim.robot.schema-3.6.0] startup
+[2.330s] [ext: omni.usd.schema.physx-107.3.26] startup
+[2.366s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[2.367s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[2.368s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[2.374s] [ext: omni.graph.exec-0.9.6] startup
+[2.375s] [ext: omni.kit.actions.core-1.0.0] startup
+[2.377s] [ext: omni.kit.usd_undo-0.1.8] startup
+[2.378s] [ext: omni.kit.exec.core-0.13.4] startup
+[2.379s] [ext: omni.kit.commands-1.4.10] startup
+[2.383s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[2.387s] [ext: omni.activity.core-1.0.3] startup
+[2.388s] [ext: omni.resourcemonitor-107.0.1] startup
+[2.390s] [ext: omni.timeline-1.0.14] startup
+[2.392s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[2.394s] [ext: usdrt.scenegraph-7.6.1] startup
+[2.436s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[2.437s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[2.446s] [ext: omni.hydra.scene_delegate-0.3.4] startup
+[2.452s] [ext: omni.usd-1.13.10] startup
+[2.481s] [ext: omni.kit.asset_converter-5.0.17] startup
+[2.496s] [ext: omni.index.libs-380600.8087.0] startup
+[2.496s] [ext: omni.volume-0.5.2] startup
+[2.500s] [ext: omni.ujitso.client-0.0.0] startup
+[2.500s] [ext: omni.index-1.0.1] startup
+[2.501s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[2.502s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-07-23T20:56:28Z [2,496ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[2.546s] [ext: omni.kit.notification_manager-1.0.10] startup
+[2.548s] [ext: omni.kit.clipboard-1.0.5] startup
+[2.549s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
+[2.552s] [ext: omni.kit.raycast.query-1.1.0] startup
+[2.559s] [ext: omni.kit.menu.core-1.1.2] startup
+[2.560s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[2.563s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[2.564s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[2.565s] [ext: omni.kit.widget.context_menu-1.2.5] startup
+[2.566s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[2.567s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
+[2.571s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[2.572s] [ext: omni.kit.usd.layers-2.2.11] startup
+[2.581s] [ext: omni.ui.scene-1.11.5] startup
+[2.586s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[2.586s] [ext: omni.kit.window.filepicker-2.13.4] startup
+[2.601s] [ext: omni.kit.menu.utils-2.0.5] startup
+[2.608s] [ext: omni.kit.context_menu-1.8.6] startup
+[2.610s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
+[2.616s] [ext: omni.kit.hydra_texture-1.4.6] startup
+[2.620s] [ext: omni.kit.window.file_importer-1.1.18] startup
+[2.622s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[2.623s] [ext: omni.kit.window.drop_support-1.0.5] startup
+[2.623s] [ext: omni.kit.widget.viewport-107.1.3] startup
+[2.627s] [ext: omni.kit.material.library-2.0.7] startup
+[2.632s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[2.635s] [ext: omni.kit.widget.settings-1.2.6] startup
+[2.637s] [ext: omni.kit.viewport.window-107.2.0] startup
+[2.653s] [ext: omni.kit.window.preferences-1.8.0] startup
+[2.658s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[2.663s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[2.663s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[2.667s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[2.671s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[2.672s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[2.674s] [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
+[2.678s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[2.684s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[2.688s] [ext: omni.kit.widget.filter-1.1.4] startup
+[2.688s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[2.690s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[2.691s] [ext: omni.fabric.commands-1.1.6] startup
+[2.694s] [ext: omni.kit.window.file_exporter-1.0.33] startup
+[2.695s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[2.696s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[2.697s] [ext: omni.debugdraw-0.1.4] startup
+[2.701s] [ext: omni.kit.widget.stage-3.1.4] startup
+[2.712s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[2.713s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[2.713s] [ext: omni.kvdb-107.3.26] startup
+[2.715s] [ext: omni.convexdecomposition-107.3.26] startup
+[2.718s] [ext: omni.physx.foundation-107.3.26] startup
+[2.720s] [ext: omni.localcache-107.3.26] startup
+[2.721s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[2.722s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[2.723s] [ext: omni.kit.stage_template.core-1.1.22] startup
+[2.723s] [ext: omni.usdphysics-107.3.26] startup
+[2.726s] [ext: omni.kit.window.file-2.0.5] startup
+[2.728s] [ext: omni.physx.cooking-107.3.26] startup
+[2.732s] [ext: omni.physics-107.3.26] startup
+[2.735s] [ext: omni.kit.window.property-1.12.1] startup
+[2.738s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[2.749s] [ext: omni.physx-107.3.26] startup
+[2.760s] [ext: omni.physics.stageupdate-107.3.26] startup
+[2.762s] [ext: omni.kit.property.usd-4.5.12] startup
+[2.772s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[2.773s] [ext: omni.physics.physx-107.3.26] startup
+2026-07-23T20:56:28Z [2,748ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.775s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[2.776s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[2.789s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[2.793s] [ext: omni.inspect-1.0.2] startup
+[2.795s] [ext: omni.kit.widget.layers-1.8.6] startup
+[2.806s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[2.807s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[2.815s] [ext: omni.graph.core-2.184.5] startup
+[2.818s] [ext: omni.kit.numpy.common-0.1.3] startup
+[2.820s] [ext: omni.usdphysics.ui-107.3.26] startup
+[2.847s] [ext: omni.physx.commands-107.3.26] startup
+[2.851s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
+[2.852s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-07-23T20:56:28Z [2,831ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.859s] [ext: omni.physx.ui-107.3.26] startup
+[2.891s] [ext: isaacsim.core.version-2.0.6] startup
+[2.892s] [ext: omni.physics.tensors-107.3.26] startup
+[2.897s] [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
+[3.100s] [ext: isaacsim.core.utils-3.5.1] startup
+[3.103s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[4.620s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[4.624s] [ext: omni.kit.widget.text_editor-1.1.1] startup
+[4.627s] [ext: omni.kit.window.stage-2.6.1] startup
+[4.633s] [ext: omni.kit.menu.create-2.0.1] startup
+[4.635s] [ext: omni.kit.window.extensions-1.4.27] startup
+[4.643s] [ext: omni.kit.scripting-107.3.2] startup
+[4.647s] [ext: omni.kit.stagerecorder.core-107.0.3] startup
+[4.652s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[4.652s] [ext: omni.graph.tools-1.79.2] startup
+[4.676s] [ext: omni.ui_query-1.1.8] startup
+[4.677s] [ext: omni.kit.widget.zoombar-1.0.6] startup
+[4.677s] [ext: omni.graph-1.141.2] startup
+[4.727s] [ext: omni.graph.action_core-1.1.7] startup
+[4.729s] [ext: omni.kit.ui_test-1.3.7] startup
+[4.734s] [ext: omni.kit.browser.core-2.3.13] startup
+[4.739s] [ext: omni.kit.usd.collect-2.4.5] startup
+[4.745s] [ext: omni.graph.action_nodes-1.50.4] startup
+[4.753s] [ext: omni.kit.menu.stage-1.2.7] startup
+[4.757s] [ext: omni.kit.browser.folder.core-1.10.9] startup
+[4.771s] [ext: omni.kit.usdz_export-1.0.9] startup
+[4.778s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[4.795s] [ext: omni.graph.action-1.130.0] startup
+[4.798s] [ext: omni.kit.tool.collect-2.2.18] startup
+[4.805s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
+[4.814s] [ext: isaacsim.gui.components-1.2.1] startup
+[4.821s] [ext: isaacsim.examples.browser-0.2.1] startup
+[4.830s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup
+[4.969s] [ext: isaacsim.core.cloner-1.4.10] startup
+[4.984s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup
+[5.001s] [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(
+[5.092s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T20:56:30Z [5,069ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+[5.098s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
+[5.101s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[5.105s] [ext: omni.kit.widget.graph-2.0.0] startup
+[5.112s] [ext: omni.kit.stage_templates-2.0.0] startup
+[5.115s] [ext: omni.graph.image.core-0.6.1] startup
+[5.117s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
+[5.119s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
+[5.121s] [ext: omni.graph.image.nodes-1.3.1] startup
+[5.127s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[5.129s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[5.132s] [ext: omni.graph.nodes-1.170.10] startup
+[5.143s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[5.149s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[5.155s] [ext: omni.syntheticdata-0.6.13] startup
+[5.187s] [ext: omni.videoencoding-0.1.2] startup
+[5.194s] [ext: omni.warp-1.8.2] startup
+[5.206s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[5.224s] [ext: omni.graph.scriptnode-1.50.0] startup
+[5.230s] [ext: isaacsim.core.prims-0.6.1] startup
+[5.284s] [ext: isaacsim.test.docstring-1.1.0] startup
+[5.294s] [ext: omni.replicator.core-1.12.27] startup
+2026-07-23T20:56:31Z [5,432ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T20:56:31Z [5,432ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T20:56:31Z [5,434ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[5.465s] [ext: isaacsim.core.api-4.8.0] startup
+[5.495s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[5.566s] [ext: isaacsim.core.nodes-3.4.3] startup
+[5.595s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[5.610s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[5.627s] [ext: omni.sensors.nv.common-3.0.0] startup
+[5.657s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[5.685s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[5.710s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[5.724s] [ext: omni.sensors.net-1.0.0] startup
+[5.732s] [ext: isaacsim.app.about-2.0.11] startup
+[5.753s] [ext: isaacsim.simulation_app-2.12.2] startup
+[5.758s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[5.769s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[5.804s] [ext: omni.kit.property.audio-1.0.16] startup
+[5.845s] [ext: omni.kit.property.camera-1.0.10] startup
+[5.877s] [ext: omni.kit.property.geometry-2.0.4] startup
+[5.963s] [ext: omni.hydra.scene_api-0.1.2] startup
+[6.046s] [ext: omni.kit.property.light-1.0.12] startup
+[6.109s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[6.120s] [ext: omni.kit.selection-0.1.6] startup
+[6.135s] [ext: omni.kit.property.material-1.11.9] startup
+[6.241s] [ext: omni.kit.property.transform-1.5.13] startup
+[6.280s] [ext: omni.kit.property.render-1.2.1] startup
+[6.291s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[6.311s] [ext: isaacsim.gui.menu-2.4.4] startup
+[6.428s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[6.603s] [ext: isaacsim.gui.property-1.1.3] startup
+[6.629s] [ext: omni.kit.property.bundle-1.4.1] startup
+[6.710s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[6.825s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[7.026s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[7.180s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[7.222s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[7.248s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[7.261s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[7.274s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[7.295s] [ext: omni.kit.window.console-1.1.4] startup
+[7.337s] [ext: omni.rtx.window.settings-0.6.19] startup
+[7.364s] [ext: omni.ocio-0.1.1] startup
+[7.374s] [ext: omni.physx.demos-107.3.26] startup
+[7.495s] [ext: omni.kit.property.physx-107.3.26] startup
+[7.557s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[7.592s] [ext: omni.asset_validator.core-1.1.6] startup
+[7.710s] [ext: omni.rtx.settings.core-0.6.5] startup
+[7.717s] [ext: omni.physx.vehicle-107.3.26] startup
+[7.749s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[7.768s] [ext: omni.kit.window.script_editor-2.0.1] startup
+[7.775s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[7.785s] [ext: omni.physx.asset_validator-107.3.26] startup
+[7.800s] [ext: omni.kit.window.toolbar-2.0.0] startup
+[7.810s] [ext: omni.physx.camera-107.3.26] startup
+[7.827s] [ext: omni.anim.curve.core-1.3.1] startup
+[7.854s] [ext: omni.physx.cct-107.3.26] startup
+[7.875s] [ext: omni.physx.graph-107.3.26] startup
+[7.896s] [ext: omni.physx.supportui-107.3.26] startup
+[7.918s] [ext: omni.physx.telemetry-107.3.26] startup
+[7.929s] [ext: isaaclab-0.54.3] startup
+[8.356s] [ext: isaaclab_contrib-0.0.2] startup
+[8.359s] [ext: isaacsim.core.throttling-2.2.2] startup
+[8.362s] [ext: omni.kit.ui.actions-1.0.5] startup
+[8.367s] [ext: semantics.schema.property-2.0.1] startup
+[8.372s] [ext: omni.physx.bundle-107.3.26] startup
+[8.375s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[8.381s] [ext: isaaclab_assets-0.2.4] startup
+[8.691s] [ext: isaaclab_tasks-0.11.14] startup
+[8.861s] [ext: omni.kit.menu.common-2.0.1] startup
+[8.864s] [ext: isaaclab_rl-0.5.0] startup
+[8.867s] [ext: isaaclab_mimic-1.0.16] startup
+[8.869s] [ext: isaaclab.python-2.3.2] startup
+[8.874s] Simulation App Starting
+2026-07-23T20:56:34Z [8,938ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T20:56:34Z [8,943ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T20:56:34Z [8,943ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T20:56:34Z [8,943ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T20:56:34Z [8,975ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[9.033s] app ready
+2026-07-23T20:56:35Z [9,915ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T20:56:35Z [9,915ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T20:56:35Z [9,915ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T20:56:35Z [9,915ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[13.426s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=27 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=27
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-56-55.log
+======================================================================================
+
+04:56:56 [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      : 27
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T20:56:56Z [30,736ms] [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
+2026-07-23T20:56:56Z [30,839ms] [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.
+2026-07-23T20:56:56Z [30,856ms] [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.
+2026-07-23T20:56:56Z [30,867ms] [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 : 0.474114 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T20:56:56Z [30,882ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:56Z [30,888ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:57Z [31,382ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:57Z [31,382ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:57Z [31,385ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:57Z [31,385ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:57Z [31,385ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+2026-07-23T20:56:57Z [31,386ms] [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:0x55823cf1cb00:World0.usd@ <0x55823cf1db00>)
+
+[INFO]: Time taken for simulation start : 0.740817 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T20:57:05Z [39,446ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T20:57:05Z [39,868ms] [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
+2026-07-23T20:57:05Z [39,868ms] [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
+2026-07-23T20:57:05Z [39,868ms] [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
+2026-07-23T20:57:05Z [39,868ms] [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
+2026-07-23T20:57:16Z [50,774ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=27
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.06073499843478203, -0.1654220074415207, 0.7724999785423279], 'quat': [0.7457519769668579, -0.0, -9.999999974752427e-07, 0.6662240028381348]}, 't1': {'center': [0.04541900008916855, -0.18525700271129608, 0.7724999785423279], 'quat': [0.9646080136299133, 9.999999974752427e-07, -0.0, -0.2636890113353729]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.06069999933242798, -0.16539999842643738, 0.7724999785423279] pick_tcp=[-0.05959999933838844, -0.15549999475479126, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
+env0 step: 2 / 400
+env0 step: 3 / 400
+env0 step: 4 / 400
+env0 step: 5 / 400
+env0 step: 6 / 400
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+env0 step: 36 / 400
+env0 step: 37 / 400
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+env0 step: 39 / 400
+env0 step: 40 / 400
+[collect][auto_swap_T] left_stage observed=[-0.08550000190734863, -0.15940000116825104, 0.7724999785423279] target=[-0.17870000004768372, -0.14339999854564667, 0.7724999785423279] waypoints=12
+[collect][auto_swap_T] phase=left_stage waypoints=12
+[collect] demo=0 step=41/400
+env0 step: 41 / 400
+env0 step: 42 / 400
+env0 step: 43 / 400
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+env0 step: 45 / 400
+env0 step: 46 / 400
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+env0 step: 49 / 400
+env0 step: 50 / 400
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+env0 step: 52 / 400
+[collect][auto_swap_T] captured_left_grasp object_center=[-0.17890000343322754, -0.14000000059604645, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.14959999918937683, -0.00019999999494757503, -0.014999999664723873]
+[collect][auto_swap_T] right_pick label=t1 center=[0.04540000110864639, -0.18529999256134033, 0.7724999785423279] pick_tcp=[0.05400000140070915, -0.19030000269412994, 0.7724999785423279] waypoints=40
+[collect][auto_swap_T] phase=right_pick waypoints=40
+[collect] demo=0 step=53/400
+env0 step: 53 / 400
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+env0 step: 55 / 400
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+[collect][auto_swap_T] right_stage observed=[0.062300000339746475, -0.1738000065088272, 0.7727000117301941] target=[0.16339999437332153, -0.20730000734329224, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=right_stage waypoints=13
+[collect] demo=0 step=93/400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.1632000058889389, -0.20749999582767487, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.1509000062942505, -9.999999747378752e-05, 0.006000000052154064]
+[collect] demo=0 step=106/400
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+[collect] demo=0 step=162/400
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+[collect][auto_swap_T] left_feedback slow_release
+[collect] demo=0 step=245/400
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+[collect][auto_swap_T] right_detour obstacle=[0.04540000110864639, -0.18529999256134033, 0.7724999785423279] waypoint=[0.014100000262260437, -0.35280001163482666, 0.7728999853134155] clearance=0.1704
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.06069999933242798, -0.16539999842643738, 0.7724999785423279] waypoints=58
+[collect][auto_swap_T] phase=right_place waypoints=58
+[collect] demo=0 step=269/400
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+[collect] demo=0 step=360/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed27_official400.hdf5
+2026-07-23T20:59:00Z [154,522ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:59:00Z [154,522ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[154.952s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed29_official400.log

@@ -0,0 +1,842 @@
+[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_045239.log
+[0.068s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.210s] [ext: omni.metrics.core-0.0.3] startup
+[0.210s] [ext: omni.client.lib-1.1.0] startup
+[0.225s] [ext: omni.blobkey-1.1.2] startup
+[0.225s] [ext: omni.stats-1.0.1] startup
+[0.226s] [ext: omni.datastore-0.0.0] startup
+[0.233s] [ext: omni.client-1.3.0] startup
+[0.238s] [ext: omni.ujitso.default-1.0.0] startup
+[0.240s] [ext: omni.hsscclient-1.1.2] startup
+[0.262s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.264s] [ext: omni.assets.plugins-0.0.0] startup
+[0.265s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.272s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T20:52:39Z [243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:39Z [243ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[0.274s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T20:52:39Z [346ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T20:52:39Z [357ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T20:52:39Z [357ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T20:52:39Z [357ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T20:52:39Z [413ms] [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:
+- 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.
+2026-07-23T20:52:40Z [1,046ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:52:40Z [1,047ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:52:40Z [1,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:52:40Z [1,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:52:40Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:52:40Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:52:40Z [1,051ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:52:40Z [1,051ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:52:40Z [1,051ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:52:40Z [1,051ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:52:40Z [1,051ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:52:40Z [1,051ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          | Yes: 0 |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 22285
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[1.861s] [ext: omni.materialx.libs-1.0.7] startup
+[1.870s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[1.871s] [ext: omni.kit.test-2.0.1] startup
+[1.915s] [ext: omni.kit.pipapi-0.0.0] startup
+[1.915s] [ext: omni.usd.config-1.0.6] startup
+[1.919s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[1.919s] [ext: omni.usd.libs-1.0.1] startup
+[2.031s] [ext: omni.kit.pip_archive-0.0.0] startup
+[2.032s] [ext: omni.mdl-56.0.3] startup
+[2.056s] [ext: omni.iray.libs-0.0.0] startup
+[2.063s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[2.065s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[2.170s] [ext: omni.kit.telemetry-0.5.2] startup
+[2.217s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T20:52:41Z [2,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:41Z [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)
+[2.223s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-07-23T20:52:41Z [2,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:41Z [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)
+2026-07-23T20:52:41Z [2,223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:41Z [2,223ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[2.255s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[2.258s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-07-23T20:52:41Z [2,231ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:41Z [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)
+2026-07-23T20:52:41Z [2,232ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:41Z [2,232ms] [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)
+2026-07-23T20:52:41Z [2,233ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:52:41Z [2,233ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[2.365s] [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
+[2.409s] [ext: omni.uiaudio-1.0.0] startup
+[2.410s] [ext: omni.kit.uiapp-0.0.0] startup
+[2.410s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[2.414s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[2.421s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[2.425s] [ext: omni.usd.schema.audio-0.0.0] startup
+[2.430s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[2.433s] [ext: omni.usd.schema.anim-0.0.0] startup
+[2.458s] [ext: omni.usd_resolver-1.0.0] startup
+[2.463s] [ext: omni.usd.core-1.5.3] startup
+[2.467s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[2.494s] [ext: isaacsim.robot.schema-3.6.0] startup
+[2.503s] [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
+[2.549s] [ext: omni.graph.exec-0.9.6] startup
+[2.550s] [ext: omni.kit.actions.core-1.0.0] startup
+[2.552s] [ext: omni.kit.usd_undo-0.1.8] startup
+[2.553s] [ext: omni.kit.exec.core-0.13.4] startup
+[2.555s] [ext: omni.kit.commands-1.4.10] startup
+[2.558s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[2.563s] [ext: omni.activity.core-1.0.3] startup
+[2.564s] [ext: omni.resourcemonitor-107.0.1] startup
+[2.566s] [ext: omni.timeline-1.0.14] startup
+[2.568s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[2.570s] [ext: usdrt.scenegraph-7.6.1] startup
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+2026-07-23T20:52:42Z [2,924ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
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+2026-07-23T20:52:42Z [3,010ms] [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!
+  warnings.warn(
+[5.300s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T20:52:44Z [5,279ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
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+2026-07-23T20:52:45Z [5,921ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T20:52:45Z [5,921ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T20:52:45Z [5,924ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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+[9.096s] Simulation App Starting
+2026-07-23T20:52:48Z [9,156ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T20:52:48Z [9,161ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T20:52:48Z [9,161ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T20:52:48Z [9,161ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T20:52:48Z [9,190ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[9.249s] app ready
+2026-07-23T20:52:49Z [10,133ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T20:52:49Z [10,133ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T20:52:49Z [10,133ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T20:52:49Z [10,133ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[13.818s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=29 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=29
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-53-11.log
+======================================================================================
+
+04:53:11 [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      : 29
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T20:53:12Z [32,923ms] [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
+2026-07-23T20:53:12Z [33,031ms] [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.
+2026-07-23T20:53:12Z [33,050ms] [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.
+2026-07-23T20:53:12Z [33,062ms] [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 : 0.470686 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T20:53:12Z [33,079ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,087ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,579ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,579ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,582ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,583ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,584ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+2026-07-23T20:53:12Z [33,584ms] [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:0x555cffb33920:World0.usd@ <0x555cffb34920>)
+
+[INFO]: Time taken for simulation start : 0.745549 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T20:53:21Z [42,385ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T20:53:26Z [47,383ms] [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
+2026-07-23T20:53:26Z [47,383ms] [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
+2026-07-23T20:53:26Z [47,383ms] [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
+2026-07-23T20:53:26Z [47,383ms] [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
+2026-07-23T20:53:33Z [54,057ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=29
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.06738799810409546, -0.1547269970178604, 0.7724999785423279], 'quat': [0.7953500151634216, 0.0, -0.0, 0.6061499714851379]}, 't1': {'center': [0.08450199663639069, -0.19912099838256836, 0.7724999785423279], 'quat': [0.3630940020084381, -9.999999974752427e-07, -9.999999974752427e-07, 0.9317520260810852]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.0674000009894371, -0.15469999611377716, 0.7724999785423279] pick_tcp=[-0.06469999998807907, -0.14509999752044678, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
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+[collect][auto_swap_T] left_stage observed=[-0.08810000121593475, -0.14790000021457672, 0.7724999785423279] target=[-0.1826000064611435, -0.12110000103712082, 0.7724999785423279] waypoints=12
+[collect][auto_swap_T] phase=left_stage waypoints=12
+[collect] demo=0 step=41/400
+env0 step: 41 / 400
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+[collect][auto_swap_T] captured_left_grasp object_center=[-0.18539999425411224, -0.1151999980211258, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.149399995803833, -9.999999747378752e-05, -0.01590000092983246]
+[collect][auto_swap_T] right_pick label=t1 center=[0.08449999988079071, -0.19910000264644623, 0.7724999785423279] pick_tcp=[0.0771000012755394, -0.1923999935388565, 0.7724999785423279] waypoints=39
+[collect][auto_swap_T] phase=right_pick waypoints=39
+[collect] demo=0 step=53/400
+env0 step: 53 / 400
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+[collect][auto_swap_T] right_stage observed=[0.09480000287294388, -0.19850000739097595, 0.7728999853134155] target=[0.1996999979019165, -0.23280000686645508, 0.7724999785423279] waypoints=14
+[collect][auto_swap_T] phase=right_stage waypoints=14
+[collect] demo=0 step=92/400
+env0 step: 92 / 400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.20069999992847443, -0.23240000009536743, 0.7728000283241272] lifted=0.0003 ee_to_object_pos=[0.14910000562667847, 0.0, -0.016200000420212746]
+[collect] demo=0 step=106/400
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+[collect] demo=0 step=125/400
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+[collect] demo=0 step=145/400
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+[collect] demo=0 step=152/400
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+[collect] demo=0 step=156/400
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+[collect] demo=0 step=165/400
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+[collect] demo=0 step=185/400
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+[collect] demo=0 step=205/400
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+[collect] demo=0 step=225/400
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+[collect] demo=0 step=240/400
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+[collect] demo=0 step=244/400
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+[collect] demo=0 step=259/400
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+[collect][auto_swap_T] right_detour obstacle=[0.08449999988079071, -0.19910000264644623, 0.7724999785423279] waypoint=[0.03310000151395798, -0.375, 0.7731999754905701] clearance=0.1832
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.0674000009894371, -0.15469999611377716, 0.7724999785423279] waypoints=54
+[collect][auto_swap_T] phase=right_place waypoints=54
+[collect] demo=0 step=268/400
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+[collect] demo=0 step=331/400
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+[collect] demo=0 step=341/400
+env0 step: 341 / 400
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+[collect] demo=0 step=346/400
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+[collect] demo=0 step=355/400
+env0 step: 355 / 400
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+env0 step: 363 / 400
+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed29_official400.hdf5
+2026-07-23T20:55:22Z [163,760ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:55:22Z [163,760ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[164.168s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed43_official400.log

@@ -0,0 +1,793 @@
+[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_050445.log
+[0.067s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.237s] [ext: omni.metrics.core-0.0.3] startup
+[0.237s] [ext: omni.client.lib-1.1.0] startup
+[0.254s] [ext: omni.blobkey-1.1.2] startup
+[0.254s] [ext: omni.stats-1.0.1] startup
+[0.255s] [ext: omni.datastore-0.0.0] startup
+[0.262s] [ext: omni.client-1.3.0] startup
+[0.268s] [ext: omni.ujitso.default-1.0.0] startup
+[0.270s] [ext: omni.hsscclient-1.1.2] startup
+[0.297s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.300s] [ext: omni.assets.plugins-0.0.0] startup
+[0.302s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.309s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T21:04:45Z [283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:45Z [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)
+[0.310s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T21:04:45Z [370ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T21:04:45Z [377ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T21:04:45Z [377ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T21:04:45Z [377ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T21:04:45Z [419ms] [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:
+- 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.
+2026-07-23T21:04:46Z [1,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:04:46Z [1,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:04:46Z [1,146ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:04:46Z [1,146ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:04:46Z [1,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:04:46Z [1,147ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:04:46Z [1,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:04:46Z [1,148ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:04:46Z [1,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:04:46Z [1,148ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:04:46Z [1,148ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:04:46Z [1,148ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          | Yes: 0 |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 12719
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[2.003s] [ext: omni.materialx.libs-1.0.7] startup
+[2.012s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[2.013s] [ext: omni.kit.test-2.0.1] startup
+[2.057s] [ext: omni.kit.pipapi-0.0.0] startup
+[2.058s] [ext: omni.usd.config-1.0.6] startup
+[2.061s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[2.062s] [ext: omni.usd.libs-1.0.1] startup
+[2.174s] [ext: omni.kit.pip_archive-0.0.0] startup
+[2.174s] [ext: omni.mdl-56.0.3] startup
+[2.197s] [ext: omni.iray.libs-0.0.0] startup
+[2.203s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[2.205s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[2.307s] [ext: omni.kit.telemetry-0.5.2] startup
+[2.349s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T21:04:47Z [2,323ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:47Z [2,323ms] [Warning] [carb] 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.kit.renderer.core-1.1.0] startup
+2026-07-23T21:04:48Z [2,654ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:48Z [2,654ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T21:04:48Z [2,756ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:48Z [2,756ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[2.786s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[2.788s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-07-23T21:04:48Z [2,765ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:48Z [2,765ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T21:04:48Z [2,766ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:48Z [2,766ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T21:04:48Z [2,767ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:04:48Z [2,767ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[2.924s] [ext: omni.ui-2.27.1] startup
+[2.939s] [ext: omni.kit.mainwindow-1.0.3] startup
+[2.941s] [ext: carb.audio-0.1.0] startup
+[2.972s] [ext: omni.uiaudio-1.0.0] startup
+[2.973s] [ext: omni.kit.uiapp-0.0.0] startup
+[2.973s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[2.976s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[2.983s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[2.986s] [ext: omni.usd.schema.audio-0.0.0] startup
+[2.990s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[2.993s] [ext: omni.usd.schema.anim-0.0.0] startup
+[3.016s] [ext: omni.usd_resolver-1.0.0] startup
+[3.020s] [ext: omni.usd.core-1.5.3] startup
+[3.024s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[3.048s] [ext: isaacsim.robot.schema-3.6.0] startup
+[3.056s] [ext: omni.usd.schema.physx-107.3.26] startup
+[3.090s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[3.091s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[3.092s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[3.097s] [ext: omni.graph.exec-0.9.6] startup
+[3.097s] [ext: omni.kit.actions.core-1.0.0] startup
+[3.100s] [ext: omni.kit.usd_undo-0.1.8] startup
+[3.100s] [ext: omni.kit.exec.core-0.13.4] startup
+[3.102s] [ext: omni.kit.commands-1.4.10] startup
+[3.105s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[3.109s] [ext: omni.activity.core-1.0.3] startup
+[3.111s] [ext: omni.resourcemonitor-107.0.1] startup
+[3.113s] [ext: omni.timeline-1.0.14] startup
+[3.116s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[3.119s] [ext: usdrt.scenegraph-7.6.1] startup
+[3.201s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[3.202s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[3.213s] [ext: omni.hydra.scene_delegate-0.3.4] startup
+[3.220s] [ext: omni.usd-1.13.10] startup
+[3.292s] [ext: omni.kit.asset_converter-5.0.17] startup
+[3.306s] [ext: omni.index.libs-380600.8087.0] startup
+[3.306s] [ext: omni.volume-0.5.2] startup
+[3.309s] [ext: omni.ujitso.client-0.0.0] startup
+[3.309s] [ext: omni.index-1.0.1] startup
+[3.310s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[3.311s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-07-23T21:04:48Z [3,305ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[3.351s] [ext: omni.kit.notification_manager-1.0.10] startup
+[3.352s] [ext: omni.kit.clipboard-1.0.5] startup
+[3.353s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
+[3.356s] [ext: omni.kit.raycast.query-1.1.0] startup
+[3.363s] [ext: omni.kit.menu.core-1.1.2] startup
+[3.364s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[3.366s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[3.368s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[3.369s] [ext: omni.kit.widget.context_menu-1.2.5] startup
+[3.370s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[3.370s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
+[3.375s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[3.375s] [ext: omni.kit.usd.layers-2.2.11] startup
+[3.386s] [ext: omni.ui.scene-1.11.5] startup
+[3.391s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[3.392s] [ext: omni.kit.window.filepicker-2.13.4] startup
+[3.407s] [ext: omni.kit.menu.utils-2.0.5] startup
+[3.415s] [ext: omni.kit.context_menu-1.8.6] startup
+[3.417s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
+[3.424s] [ext: omni.kit.hydra_texture-1.4.6] startup
+[3.428s] [ext: omni.kit.window.file_importer-1.1.18] startup
+[3.431s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[3.432s] [ext: omni.kit.window.drop_support-1.0.5] startup
+[3.432s] [ext: omni.kit.widget.viewport-107.1.3] startup
+[3.436s] [ext: omni.kit.material.library-2.0.7] startup
+[3.441s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[3.444s] [ext: omni.kit.widget.settings-1.2.6] startup
+[3.446s] [ext: omni.kit.viewport.window-107.2.0] startup
+[3.464s] [ext: omni.kit.window.preferences-1.8.0] startup
+[3.469s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[3.475s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[3.475s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[3.480s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[3.484s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[3.485s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[3.487s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[3.489s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[3.490s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[3.491s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[3.497s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[3.500s] [ext: omni.kit.widget.filter-1.1.4] startup
+[3.501s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[3.503s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[3.504s] [ext: omni.fabric.commands-1.1.6] startup
+[3.507s] [ext: omni.kit.window.file_exporter-1.0.33] startup
+[3.508s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[3.510s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[3.511s] [ext: omni.debugdraw-0.1.4] startup
+[3.515s] [ext: omni.kit.widget.stage-3.1.4] startup
+[3.526s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[3.527s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[3.527s] [ext: omni.kvdb-107.3.26] startup
+[3.529s] [ext: omni.convexdecomposition-107.3.26] startup
+[3.532s] [ext: omni.physx.foundation-107.3.26] startup
+[3.534s] [ext: omni.localcache-107.3.26] startup
+[3.536s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[3.536s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[3.537s] [ext: omni.kit.stage_template.core-1.1.22] startup
+[3.538s] [ext: omni.usdphysics-107.3.26] startup
+[3.540s] [ext: omni.kit.window.file-2.0.5] startup
+[3.543s] [ext: omni.physx.cooking-107.3.26] startup
+[3.547s] [ext: omni.physics-107.3.26] startup
+[3.551s] [ext: omni.kit.window.property-1.12.1] startup
+[3.554s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[3.565s] [ext: omni.physx-107.3.26] startup
+[3.577s] [ext: omni.physics.stageupdate-107.3.26] startup
+[3.579s] [ext: omni.kit.property.usd-4.5.12] startup
+[3.603s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[3.605s] [ext: omni.physics.physx-107.3.26] startup
+2026-07-23T21:04:49Z [3,584ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[3.612s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[3.612s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[3.628s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[3.632s] [ext: omni.inspect-1.0.2] startup
+[3.634s] [ext: omni.kit.widget.layers-1.8.6] startup
+[3.647s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[3.648s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[3.658s] [ext: omni.graph.core-2.184.5] startup
+[3.664s] [ext: omni.kit.numpy.common-0.1.3] startup
+[3.666s] [ext: omni.usdphysics.ui-107.3.26] startup
+[3.703s] [ext: omni.physx.commands-107.3.26] startup
+[3.708s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
+[3.710s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-07-23T21:04:49Z [3,690ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[3.718s] [ext: omni.physx.ui-107.3.26] startup
+[3.765s] [ext: isaacsim.core.version-2.0.6] startup
+[3.766s] [ext: omni.physics.tensors-107.3.26] startup
+[3.772s] [ext: omni.warp.core-1.8.2] startup
+[4.036s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[4.038s] [ext: isaacsim.storage.native-1.5.1] startup
+[4.040s] [ext: omni.physx.tensors-107.3.26] startup
+[4.057s] [ext: isaacsim.core.utils-3.5.1] startup
+[4.061s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[5.538s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[5.540s] [ext: omni.kit.widget.text_editor-1.1.1] startup
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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!
+  warnings.warn(
+[6.021s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T21:04:51Z [6,002ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+[6.032s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
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+[6.258s] [ext: omni.replicator.core-1.12.27] startup
+2026-07-23T21:04:52Z [6,624ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T21:04:52Z [6,624ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T21:04:52Z [6,625ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[6.656s] [ext: isaacsim.core.api-4.8.0] startup
+[6.680s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[6.741s] [ext: isaacsim.core.nodes-3.4.3] startup
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+[6.778s] [ext: omni.sensors.nv.common-3.0.0] startup
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+[6.803s] [ext: isaacsim.sensors.physx-2.3.2] startup
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+[6.828s] [ext: omni.sensors.net-1.0.0] startup
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+[7.553s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[7.601s] [ext: omni.kit.window.console-1.1.4] startup
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+[7.682s] [ext: omni.ocio-0.1.1] startup
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+[8.679s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[8.690s] [ext: omni.kit.window.script_editor-2.0.1] startup
+[8.694s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[8.702s] [ext: omni.physx.asset_validator-107.3.26] startup
+[8.714s] [ext: omni.kit.window.toolbar-2.0.0] startup
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+[8.816s] [ext: omni.physx.telemetry-107.3.26] startup
+[8.829s] [ext: isaaclab-0.54.3] startup
+[9.242s] [ext: isaaclab_contrib-0.0.2] startup
+[9.244s] [ext: isaacsim.core.throttling-2.2.2] startup
+[9.247s] [ext: omni.kit.ui.actions-1.0.5] startup
+[9.253s] [ext: semantics.schema.property-2.0.1] startup
+[9.257s] [ext: omni.physx.bundle-107.3.26] startup
+[9.260s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[9.265s] [ext: isaaclab_assets-0.2.4] startup
+[9.567s] [ext: isaaclab_tasks-0.11.14] startup
+[9.736s] [ext: omni.kit.menu.common-2.0.1] startup
+[9.739s] [ext: isaaclab_rl-0.5.0] startup
+[9.741s] [ext: isaaclab_mimic-1.0.16] startup
+[9.742s] [ext: isaaclab.python-2.3.2] startup
+[9.745s] Simulation App Starting
+2026-07-23T21:04:55Z [9,807ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T21:04:55Z [9,812ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T21:04:55Z [9,812ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T21:04:55Z [9,812ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T21:04:55Z [9,841ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9
+
+[9.899s] app ready
+2026-07-23T21:04:56Z [10,751ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T21:04:56Z [10,752ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T21:04:56Z [10,752ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T21:04:56Z [10,752ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[14.242s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=43 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=43
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_05-05-19.log
+======================================================================================
+
+05:05:19 [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      : 43
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T21:05:20Z [34,515ms] [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
+2026-07-23T21:05:20Z [34,622ms] [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.
+2026-07-23T21:05:20Z [34,639ms] [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.
+2026-07-23T21:05:20Z [34,650ms] [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 : 0.458481 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T21:05:20Z [34,668ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [34,676ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [35,164ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [35,164ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [35,166ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [35,167ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [35,167ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+2026-07-23T21:05:20Z [35,168ms] [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:0x55665ec8f9d0:World0.usd@ <0x55665ec909d0>)
+
+[INFO]: Time taken for simulation start : 0.742711 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T21:05:29Z [44,223ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T21:05:30Z [44,704ms] [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
+2026-07-23T21:05:30Z [44,704ms] [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
+2026-07-23T21:05:30Z [44,704ms] [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
+2026-07-23T21:05:30Z [44,704ms] [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
+2026-07-23T21:05:41Z [55,762ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=43
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.056150998920202255, -0.18856699764728546, 0.7724999785423279], 'quat': [0.5317090153694153, -9.999999974752427e-07, 0.0, 0.8469269871711731]}, 't1': {'center': [0.04697500169277191, -0.1755709946155548, 0.7724999785423279], 'quat': [0.6592540144920349, 0.0, 9.999999974752427e-07, 0.7519199848175049]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.05620000138878822, -0.18860000371932983, 0.7724999785423279] pick_tcp=[-0.060499999672174454, -0.17960000038146973, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
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+[collect][auto_swap_T] left_stage observed=[-0.06750000268220901, -0.19130000472068787, 0.7732999920845032] target=[-0.17520000040531158, -0.20360000431537628, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=left_stage waypoints=13
+[collect] demo=0 step=41/400
+env0 step: 41 / 400
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+[collect][auto_swap_T] captured_left_grasp object_center=[-0.18150000274181366, -0.20440000295639038, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.1492999941110611, 0.0006000000284984708, 0.01360000018030405]
+[collect][auto_swap_T] right_pick label=t1 center=[0.04699999839067459, -0.17560000717639923, 0.7724999785423279] pick_tcp=[0.04569999873638153, -0.1657000035047531, 0.7724999785423279] waypoints=40
+[collect][auto_swap_T] phase=right_pick waypoints=40
+[collect] demo=0 step=54/400
+env0 step: 54 / 400
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+[collect][auto_swap_T] right_pick label=t1 center=[0.054099999368190765, -0.1703999936580658, 0.7735999822616577] pick_tcp=[0.05689999833703041, -0.1607999950647354, 0.7734000086784363] waypoints=31
+[collect][auto_swap_T] right_pickup_retry reason=probe offset_deg=0.0 waypoints=31
+[collect] demo=0 step=94/400
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+[collect][auto_swap_T] right_stage observed=[0.06310000270605087, -0.1623000055551529, 0.7735000252723694] target=[0.16599999368190765, -0.16060000658035278, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=right_stage waypoints=13
+[collect] demo=0 step=125/400
+env0 step: 125 / 400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.16850000619888306, -0.16220000386238098, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.14949999749660492, 0.00039999998989515007, -0.011699999682605267]
+[collect][auto_swap_T] left_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.05
+[collect] demo=0 step=138/400
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+[collect] demo=0 step=157/400
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+[collect] demo=0 step=177/400
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+[collect][auto_swap_T] right_detour obstacle=[0.04699999839067459, -0.17560000717639923, 0.7724999785423279] waypoint=[0.027400000020861626, -0.02019999921321869, 0.7735000252723694] clearance=0.1566
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.05620000138878822, -0.18860000371932983, 0.7724999785423279] waypoints=47
+[collect][auto_swap_T] phase=right_place waypoints=47
+[collect] demo=0 step=227/400
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+[collect] demo=0 step=274/400
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+[collect] demo=0 step=293/400
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+[collect] demo=0 step=306/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed43_official400.hdf5
+2026-07-23T21:07:12Z [147,292ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:12Z [147,292ms] [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)
+[147.734s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed45_official400.log

@@ -0,0 +1,832 @@
+[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_051320.log
+[0.070s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.215s] [ext: omni.metrics.core-0.0.3] startup
+[0.216s] [ext: omni.client.lib-1.1.0] startup
+[0.231s] [ext: omni.blobkey-1.1.2] startup
+[0.231s] [ext: omni.stats-1.0.1] startup
+[0.232s] [ext: omni.datastore-0.0.0] startup
+[0.238s] [ext: omni.client-1.3.0] startup
+[0.244s] [ext: omni.ujitso.default-1.0.0] startup
+[0.246s] [ext: omni.hsscclient-1.1.2] startup
+[0.269s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.270s] [ext: omni.assets.plugins-0.0.0] startup
+[0.272s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.279s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T21:13:21Z [252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:21Z [252ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[0.280s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T21:13:21Z [344ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T21:13:21Z [351ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T21:13:21Z [351ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T21:13:21Z [351ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T21:13:21Z [410ms] [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:
+- 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.
+2026-07-23T21:13:21Z [1,015ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:13:21Z [1,016ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:13:21Z [1,016ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:13:21Z [1,016ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:13:21Z [1,017ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:13:21Z [1,017ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 13460
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[1.811s] [ext: omni.materialx.libs-1.0.7] startup
+[1.820s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[1.822s] [ext: omni.kit.test-2.0.1] startup
+[1.865s] [ext: omni.kit.pipapi-0.0.0] startup
+[1.866s] [ext: omni.usd.config-1.0.6] startup
+[1.869s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[1.869s] [ext: omni.usd.libs-1.0.1] startup
+[1.986s] [ext: omni.kit.pip_archive-0.0.0] startup
+[1.987s] [ext: omni.mdl-56.0.3] startup
+[2.010s] [ext: omni.iray.libs-0.0.0] startup
+[2.017s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[2.019s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[2.128s] [ext: omni.kit.telemetry-0.5.2] startup
+[2.180s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T21:13:23Z [2,154ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:23Z [2,154ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[2.185s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-07-23T21:13:23Z [2,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:23Z [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)
+2026-07-23T21:13:23Z [2,185ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:23Z [2,185ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
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+2026-07-23T21:13:23Z [2,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:23Z [2,193ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T21:13:23Z [2,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:23Z [2,194ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T21:13:23Z [2,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:13:23Z [2,195ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
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+2026-07-23T21:13:23Z [2,612ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[2.661s] [ext: omni.kit.notification_manager-1.0.10] startup
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+2026-07-23T21:13:23Z [2,872ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.901s] [ext: omni.kit.widget.prompt-1.0.7] startup
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+[2.979s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
+[2.980s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-07-23T21:13:23Z [2,958ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.987s] [ext: omni.physx.ui-107.3.26] startup
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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!
+  warnings.warn(
+[5.275s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T21:13:26Z [5,255ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+[5.285s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
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+2026-07-23T21:13:26Z [5,708ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T21:13:26Z [5,708ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T21:13:26Z [5,715ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[5.754s] [ext: isaacsim.core.api-4.8.0] startup
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+[7.895s] [ext: omni.physx.cct-107.3.26] startup
+[7.921s] [ext: omni.physx.graph-107.3.26] startup
+[7.961s] [ext: omni.physx.supportui-107.3.26] startup
+[8.006s] [ext: omni.physx.telemetry-107.3.26] startup
+[8.014s] [ext: isaaclab-0.54.3] startup
+[8.342s] [ext: isaaclab_contrib-0.0.2] startup
+[8.345s] [ext: isaacsim.core.throttling-2.2.2] startup
+[8.348s] [ext: omni.kit.ui.actions-1.0.5] startup
+[8.355s] [ext: semantics.schema.property-2.0.1] startup
+[8.359s] [ext: omni.physx.bundle-107.3.26] startup
+[8.362s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[8.368s] [ext: isaaclab_assets-0.2.4] startup
+[8.685s] [ext: isaaclab_tasks-0.11.14] startup
+[8.903s] [ext: omni.kit.menu.common-2.0.1] startup
+[8.906s] [ext: isaaclab_rl-0.5.0] startup
+[8.909s] [ext: isaaclab_mimic-1.0.16] startup
+[8.911s] [ext: isaaclab.python-2.3.2] startup
+[8.915s] Simulation App Starting
+2026-07-23T21:13:29Z [8,968ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T21:13:29Z [8,973ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T21:13:29Z [8,973ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T21:13:29Z [8,973ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T21:13:29Z [9,003ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[9.061s] app ready
+2026-07-23T21:13:30Z [9,880ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T21:13:30Z [9,880ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T21:13:30Z [9,880ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T21:13:30Z [9,880ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[13.818s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=45 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=45
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_05-13-52.log
+======================================================================================
+
+05:13:52 [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      : 45
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T21:13:52Z [31,928ms] [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
+2026-07-23T21:13:52Z [32,000ms] [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.
+2026-07-23T21:13:52Z [32,017ms] [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.
+2026-07-23T21:13:52Z [32,032ms] [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 : 0.360371 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T21:13:52Z [32,047ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:52Z [32,054ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:53Z [32,652ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:53Z [32,652ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:53Z [32,654ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:53Z [32,655ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:53Z [32,655ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+2026-07-23T21:13:53Z [32,655ms] [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:0x55fe57285a40:World0.usd@ <0x55fe57286a40>)
+
+[INFO]: Time taken for simulation start : 0.832964 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T21:14:02Z [41,689ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T21:14:02Z [42,131ms] [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
+2026-07-23T21:14:02Z [42,131ms] [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
+2026-07-23T21:14:02Z [42,131ms] [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
+2026-07-23T21:14:02Z [42,131ms] [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
+2026-07-23T21:14:14Z [53,320ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=45
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.05043499916791916, -0.19801099598407745, 0.7724999785423279], 'quat': [0.9421520233154297, 9.999999974752427e-07, 9.999999974752427e-07, 0.3351849913597107]}, 't1': {'center': [0.05001699924468994, -0.18442000448703766, 0.7724999785423279], 'quat': [0.8453159928321838, 0.0, -0.0, -0.534267008304596]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.05040000006556511, -0.1979999989271164, 0.7724999785423279] pick_tcp=[-0.04270000010728836, -0.19169999659061432, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
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+[collect][auto_swap_T] left_stage observed=[-0.05990000069141388, -0.19900000095367432, 0.772599995136261] target=[-0.16940000653266907, -0.21410000324249268, 0.7724999785423279] waypoints=14
+[collect][auto_swap_T] phase=left_stage waypoints=14
+[collect] demo=0 step=41/400
+env0 step: 41 / 400
+env0 step: 42 / 400
+env0 step: 43 / 400
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+[collect][auto_swap_T] captured_left_grasp object_center=[-0.17299999296665192, -0.20520000159740448, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.14970000088214874, -0.00019999999494757503, -0.011599999852478504]
+[collect][auto_swap_T] right_pick label=t1 center=[0.05000000074505806, -0.18440000712871552, 0.7724999785423279] pick_tcp=[0.05429999902844429, -0.19349999725818634, 0.7724999785423279] waypoints=39
+[collect][auto_swap_T] phase=right_pick waypoints=39
+[collect] demo=0 step=55/400
+env0 step: 55 / 400
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+[collect][auto_swap_T] right_stage observed=[0.06520000100135803, -0.18000000715255737, 0.7735000252723694] target=[0.1688999980688095, -0.16830000281333923, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=right_stage waypoints=13
+[collect] demo=0 step=94/400
+env0 step: 94 / 400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.1737000048160553, -0.16820000112056732, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.1500999927520752, 0.0003000000142492354, 0.00860000029206276]
+[collect] demo=0 step=107/400
+env0 step: 107 / 400
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+[collect] demo=0 step=126/400
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+[collect] demo=0 step=146/400
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+[collect] demo=0 step=157/400
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+[collect] demo=0 step=161/400
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+[collect] demo=0 step=186/400
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+[collect][auto_swap_T] right_detour obstacle=[0.05000000074505806, -0.18440000712871552, 0.7724999785423279] waypoint=[0.07010000199079514, -0.3325999975204468, 0.7766000032424927] clearance=0.1495
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.05040000006556511, -0.1979999989271164, 0.7724999785423279] waypoints=54
+[collect][auto_swap_T] phase=right_place waypoints=54
+[collect] demo=0 step=254/400
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+[collect] demo=0 step=308/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed45_official400.hdf5
+2026-07-23T21:16:02Z [161,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:16:02Z [161,199ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[161.659s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed46_official400.log

@@ -0,0 +1,866 @@
+[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_050715.log
+[0.060s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.208s] [ext: omni.metrics.core-0.0.3] startup
+[0.208s] [ext: omni.client.lib-1.1.0] startup
+[0.224s] [ext: omni.blobkey-1.1.2] startup
+[0.224s] [ext: omni.stats-1.0.1] startup
+[0.225s] [ext: omni.datastore-0.0.0] startup
+[0.231s] [ext: omni.client-1.3.0] startup
+[0.237s] [ext: omni.ujitso.default-1.0.0] startup
+[0.239s] [ext: omni.hsscclient-1.1.2] startup
+[0.262s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.264s] [ext: omni.assets.plugins-0.0.0] startup
+[0.265s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.272s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T21:07:15Z [247ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:15Z [247ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[0.273s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T21:07:15Z [333ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T21:07:15Z [335ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T21:07:15Z [335ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T21:07:15Z [335ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T21:07:15Z [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:
+- 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.
+2026-07-23T21:07:16Z [947ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:07:16Z [947ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:07:16Z [949ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:07:16Z [949ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:07:16Z [950ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:07:16Z [950ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          | Yes: 0 |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 13391
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[1.728s] [ext: omni.materialx.libs-1.0.7] startup
+[1.737s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[1.738s] [ext: omni.kit.test-2.0.1] startup
+[1.781s] [ext: omni.kit.pipapi-0.0.0] startup
+[1.782s] [ext: omni.usd.config-1.0.6] startup
+[1.786s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[1.786s] [ext: omni.usd.libs-1.0.1] startup
+[1.897s] [ext: omni.kit.pip_archive-0.0.0] startup
+[1.897s] [ext: omni.mdl-56.0.3] startup
+[1.920s] [ext: omni.iray.libs-0.0.0] startup
+[1.926s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[1.928s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[2.031s] [ext: omni.kit.telemetry-0.5.2] startup
+[2.082s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T21:07:17Z [2,058ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:17Z [2,058ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[2.086s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-07-23T21:07:17Z [2,079ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:17Z [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)
+2026-07-23T21:07:17Z [2,089ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:17Z [2,089ms] [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)
+[2.116s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[2.118s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-07-23T21:07:17Z [2,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:17Z [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)
+2026-07-23T21:07:17Z [2,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:17Z [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)
+2026-07-23T21:07:17Z [2,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:07:17Z [2,099ms] [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)
+[2.225s] [ext: omni.ui-2.27.1] startup
+[2.238s] [ext: omni.kit.mainwindow-1.0.3] startup
+[2.239s] [ext: carb.audio-0.1.0] startup
+[2.268s] [ext: omni.uiaudio-1.0.0] startup
+[2.269s] [ext: omni.kit.uiapp-0.0.0] startup
+[2.269s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[2.272s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[2.280s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[2.283s] [ext: omni.usd.schema.audio-0.0.0] startup
+[2.287s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[2.291s] [ext: omni.usd.schema.anim-0.0.0] startup
+[2.315s] [ext: omni.usd_resolver-1.0.0] startup
+[2.320s] [ext: omni.usd.core-1.5.3] startup
+[2.323s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[2.349s] [ext: isaacsim.robot.schema-3.6.0] startup
+[2.359s] [ext: omni.usd.schema.physx-107.3.26] startup
+[2.397s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[2.398s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[2.398s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[2.404s] [ext: omni.graph.exec-0.9.6] startup
+[2.405s] [ext: omni.kit.actions.core-1.0.0] startup
+[2.407s] [ext: omni.kit.usd_undo-0.1.8] startup
+[2.408s] [ext: omni.kit.exec.core-0.13.4] startup
+[2.409s] [ext: omni.kit.commands-1.4.10] startup
+[2.413s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[2.417s] [ext: omni.activity.core-1.0.3] startup
+[2.419s] [ext: omni.resourcemonitor-107.0.1] startup
+[2.421s] [ext: omni.timeline-1.0.14] startup
+[2.423s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[2.425s] [ext: usdrt.scenegraph-7.6.1] startup
+[2.466s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[2.468s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[2.476s] [ext: omni.hydra.scene_delegate-0.3.4] startup
+[2.483s] [ext: omni.usd-1.13.10] startup
+[2.511s] [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
+[2.528s] [ext: omni.ujitso.client-0.0.0] startup
+[2.529s] [ext: omni.index-1.0.1] startup
+[2.529s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[2.530s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-07-23T21:07:17Z [2,527ms] [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
+[2.575s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
+[2.578s] [ext: omni.kit.raycast.query-1.1.0] startup
+[2.585s] [ext: omni.kit.menu.core-1.1.2] startup
+[2.585s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[2.588s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[2.590s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[2.591s] [ext: omni.kit.widget.context_menu-1.2.5] startup
+[2.592s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[2.593s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
+[2.597s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[2.598s] [ext: omni.kit.usd.layers-2.2.11] startup
+[2.606s] [ext: omni.ui.scene-1.11.5] startup
+[2.611s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[2.612s] [ext: omni.kit.window.filepicker-2.13.4] startup
+[2.626s] [ext: omni.kit.menu.utils-2.0.5] startup
+[2.634s] [ext: omni.kit.context_menu-1.8.6] startup
+[2.635s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
+[2.641s] [ext: omni.kit.hydra_texture-1.4.6] startup
+[2.646s] [ext: omni.kit.window.file_importer-1.1.18] startup
+[2.648s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[2.649s] [ext: omni.kit.window.drop_support-1.0.5] startup
+[2.649s] [ext: omni.kit.widget.viewport-107.1.3] startup
+[2.653s] [ext: omni.kit.material.library-2.0.7] startup
+[2.658s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[2.662s] [ext: omni.kit.widget.settings-1.2.6] startup
+[2.663s] [ext: omni.kit.viewport.window-107.2.0] startup
+[2.679s] [ext: omni.kit.window.preferences-1.8.0] startup
+[2.684s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[2.689s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[2.690s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[2.694s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[2.698s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[2.699s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[2.700s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[2.702s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[2.703s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[2.704s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[2.710s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[2.713s] [ext: omni.kit.widget.filter-1.1.4] startup
+[2.714s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[2.716s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[2.717s] [ext: omni.fabric.commands-1.1.6] startup
+[2.720s] [ext: omni.kit.window.file_exporter-1.0.33] startup
+[2.721s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[2.722s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[2.724s] [ext: omni.debugdraw-0.1.4] startup
+[2.728s] [ext: omni.kit.widget.stage-3.1.4] startup
+[2.739s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[2.740s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[2.740s] [ext: omni.kvdb-107.3.26] startup
+[2.741s] [ext: omni.convexdecomposition-107.3.26] startup
+[2.745s] [ext: omni.physx.foundation-107.3.26] startup
+[2.747s] [ext: omni.localcache-107.3.26] startup
+[2.748s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
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+2026-07-23T21:07:17Z [2,777ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.803s] [ext: omni.kit.widget.prompt-1.0.7] startup
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+[2.880s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-07-23T21:07:17Z [2,861ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.887s] [ext: omni.physx.ui-107.3.26] startup
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+[4.880s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
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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!
+  warnings.warn(
+[5.179s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T21:07:20Z [5,165ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+[5.193s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
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+[5.383s] [ext: isaacsim.test.docstring-1.1.0] startup
+[5.391s] [ext: omni.replicator.core-1.12.27] startup
+2026-07-23T21:07:20Z [5,573ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T21:07:20Z [5,573ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T21:07:20Z [5,578ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[5.612s] [ext: isaacsim.core.api-4.8.0] startup
+[5.674s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
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+[5.831s] [ext: omni.sensors.nv.common-3.0.0] startup
+[5.847s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[5.864s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[5.894s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[5.919s] [ext: omni.sensors.net-1.0.0] startup
+[5.928s] [ext: isaacsim.app.about-2.0.11] startup
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+[6.220s] [ext: omni.sensors.nv.radar-3.0.0] startup
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+[6.291s] [ext: omni.kit.property.bundle-1.4.1] startup
+[6.299s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[6.332s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[6.347s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[6.370s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[6.400s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[6.416s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[6.425s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[6.432s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[6.446s] [ext: omni.kit.window.console-1.1.4] startup
+[6.464s] [ext: omni.rtx.window.settings-0.6.19] startup
+[6.490s] [ext: omni.ocio-0.1.1] startup
+[6.498s] [ext: omni.physx.demos-107.3.26] startup
+[6.728s] [ext: omni.kit.property.physx-107.3.26] startup
+[6.789s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
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+[7.583s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[7.610s] [ext: omni.kit.window.script_editor-2.0.1] startup
+[7.620s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[7.634s] [ext: omni.physx.asset_validator-107.3.26] startup
+[7.655s] [ext: omni.kit.window.toolbar-2.0.0] startup
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+[7.858s] [ext: omni.physx.telemetry-107.3.26] startup
+[7.867s] [ext: isaaclab-0.54.3] startup
+[8.193s] [ext: isaaclab_contrib-0.0.2] startup
+[8.196s] [ext: isaacsim.core.throttling-2.2.2] startup
+[8.199s] [ext: omni.kit.ui.actions-1.0.5] startup
+[8.204s] [ext: semantics.schema.property-2.0.1] startup
+[8.208s] [ext: omni.physx.bundle-107.3.26] startup
+[8.212s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[8.218s] [ext: isaaclab_assets-0.2.4] startup
+[8.542s] [ext: isaaclab_tasks-0.11.14] startup
+[8.726s] [ext: omni.kit.menu.common-2.0.1] startup
+[8.728s] [ext: isaaclab_rl-0.5.0] startup
+[8.731s] [ext: isaaclab_mimic-1.0.16] startup
+[8.733s] [ext: isaaclab.python-2.3.2] startup
+[8.737s] Simulation App Starting
+2026-07-23T21:07:24Z [8,886ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T21:07:24Z [8,892ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T21:07:24Z [8,892ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T21:07:24Z [8,892ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T21:07:24Z [8,928ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+2026-07-23T21:07:24Z [8,977ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
+2026-07-23T21:07:24Z [8,977ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
+2026-07-23T21:07:24Z [8,977ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
+[9.032s] app ready
+2026-07-23T21:07:24Z [9,614ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T21:07:24Z [9,614ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T21:07:24Z [9,614ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T21:07:24Z [9,614ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[13.113s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=46 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=46
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_05-07-45.log
+======================================================================================
+
+05:07:46 [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      : 46
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T21:07:46Z [31,242ms] [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
+2026-07-23T21:07:46Z [31,345ms] [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.
+2026-07-23T21:07:46Z [31,362ms] [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.
+2026-07-23T21:07:46Z [31,375ms] [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 : 0.431711 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T21:07:46Z [31,393ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:46Z [31,400ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:47Z [31,981ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:47Z [31,982ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:47Z [31,985ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:47Z [31,985ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:47Z [31,985ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+2026-07-23T21:07:47Z [31,986ms] [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:0x5585054384b0:World0.usd@ <0x5585054394b0>)
+
+[INFO]: Time taken for simulation start : 0.834527 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T21:07:55Z [40,723ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T21:07:56Z [41,019ms] [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
+2026-07-23T21:07:56Z [41,019ms] [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
+2026-07-23T21:07:56Z [41,019ms] [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
+2026-07-23T21:07:56Z [41,019ms] [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
+2026-07-23T21:08:07Z [52,311ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=46
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.029830999672412872, -0.18277500569820404, 0.7724999785423279], 'quat': [-0.120169997215271, -0.0, 0.0, 0.9927530288696289]}, 't1': {'center': [0.08403199911117554, -0.16000300645828247, 0.7724999785423279], 'quat': [0.8184419870376587, 0.0, -0.0, -0.5745890140533447]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.02979999966919422, -0.18279999494552612, 0.7724999785423279] pick_tcp=[-0.039500001817941666, -0.18520000576972961, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
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+[collect][auto_swap_T] left_stage observed=[-0.04430000111460686, -0.18860000371932983, 0.7736999988555908] target=[-0.14749999344348907, -0.20630000531673431, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=left_stage waypoints=13
+[collect] demo=0 step=41/400
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+[collect][auto_swap_T] captured_left_grasp object_center=[-0.14749999344348907, -0.20180000364780426, 0.7736999988555908] lifted=0.0012 ee_to_object_pos=[0.1501999944448471, -0.00019999999494757503, 0.006300000008195639]
+[collect][auto_swap_T] right_pick label=t1 center=[0.08399999886751175, -0.1599999964237213, 0.7724999785423279] pick_tcp=[0.08739999681711197, -0.16940000653266907, 0.7724999785423279] waypoints=39
+[collect][auto_swap_T] phase=right_pick waypoints=39
+[collect] demo=0 step=54/400
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+[collect][auto_swap_T] right_stage observed=[0.09950000047683716, -0.1534000039100647, 0.7735000252723694] target=[0.20170000195503235, -0.13650000095367432, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=right_stage waypoints=13
+[collect] demo=0 step=93/400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.2062000036239624, -0.13670000433921814, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.1501999944448471, 0.00039999998989515007, 0.00839999970048666]
+[collect] demo=0 step=106/400
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+[collect] demo=0 step=125/400
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+[collect] demo=0 step=145/400
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+[collect] demo=0 step=165/400
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+[collect] demo=0 step=171/400
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+[collect] demo=0 step=185/400
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+[collect] demo=0 step=245/400
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+[collect] demo=0 step=261/400
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+[collect][auto_swap_T] left_feedback slow_release
+[collect] demo=0 step=265/400
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+[collect] demo=0 step=280/400
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+[collect][auto_swap_T] right_detour obstacle=[0.08399999886751175, -0.1599999964237213, 0.7724999785423279] waypoint=[0.11490000039339066, -0.31439998745918274, 0.7732999920845032] clearance=0.1575
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.02979999966919422, -0.18279999494552612, 0.7724999785423279] waypoints=50
+[collect][auto_swap_T] phase=right_place waypoints=50
+[collect] demo=0 step=289/400
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+[collect] demo=0 step=339/400
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+[collect] demo=0 step=371/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed46_official400.hdf5
+2026-07-23T21:10:01Z [166,834ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:10:01Z [166,834ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[167.285s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed4_official400.log

@@ -0,0 +1,834 @@
+[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_042714.log
+[0.095s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.263s] [ext: omni.metrics.core-0.0.3] startup
+[0.263s] [ext: omni.client.lib-1.1.0] startup
+[0.277s] [ext: omni.blobkey-1.1.2] startup
+[0.278s] [ext: omni.stats-1.0.1] startup
+[0.278s] [ext: omni.datastore-0.0.0] startup
+[0.284s] [ext: omni.client-1.3.0] startup
+[0.290s] [ext: omni.ujitso.default-1.0.0] startup
+[0.291s] [ext: omni.hsscclient-1.1.2] startup
+[0.313s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.315s] [ext: omni.assets.plugins-0.0.0] startup
+[0.316s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.325s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T20:27:14Z [288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:14Z [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)
+[0.326s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T20:27:14Z [391ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T20:27:14Z [403ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T20:27:14Z [403ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T20:27:14Z [403ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T20:27:14Z [438ms] [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:
+- 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.
+2026-07-23T20:27:15Z [1,619ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:15Z [1,619ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:15Z [1,623ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:15Z [1,623ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T20:27:15Z [1,632ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T20:27:15Z [1,632ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          | Yes: 0 |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 17522
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[2.956s] [ext: omni.materialx.libs-1.0.7] startup
+[2.965s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[2.966s] [ext: omni.kit.test-2.0.1] startup
+[3.010s] [ext: omni.kit.pipapi-0.0.0] startup
+[3.011s] [ext: omni.usd.config-1.0.6] startup
+[3.014s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[3.015s] [ext: omni.usd.libs-1.0.1] startup
+[3.126s] [ext: omni.kit.pip_archive-0.0.0] startup
+[3.126s] [ext: omni.mdl-56.0.3] startup
+[3.148s] [ext: omni.iray.libs-0.0.0] startup
+[3.154s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[3.156s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[3.257s] [ext: omni.kit.telemetry-0.5.2] startup
+[3.309s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T20:27:17Z [3,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:17Z [3,273ms] [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)
+[3.313s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-07-23T20:27:17Z [3,603ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:17Z [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)
+2026-07-23T20:27:17Z [3,624ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:17Z [3,624ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[3.666s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[3.673s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-07-23T20:27:17Z [3,645ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:17Z [3,645ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-07-23T20:27:17Z [3,648ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:17Z [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)
+2026-07-23T20:27:17Z [3,651ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:27:17Z [3,651ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[3.841s] [ext: omni.ui-2.27.1] startup
+[3.860s] [ext: omni.kit.mainwindow-1.0.3] startup
+[3.863s] [ext: carb.audio-0.1.0] startup
+[3.890s] [ext: omni.uiaudio-1.0.0] startup
+[3.892s] [ext: omni.kit.uiapp-0.0.0] startup
+[3.892s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[3.897s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[3.909s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[3.914s] [ext: omni.usd.schema.audio-0.0.0] startup
+[3.920s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[3.925s] [ext: omni.usd.schema.anim-0.0.0] startup
+[3.960s] [ext: omni.usd_resolver-1.0.0] startup
+[3.964s] [ext: omni.usd.core-1.5.3] startup
+[3.967s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[3.995s] [ext: isaacsim.robot.schema-3.6.0] startup
+[4.005s] [ext: omni.usd.schema.physx-107.3.26] startup
+[4.044s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[4.045s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[4.046s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[4.051s] [ext: omni.graph.exec-0.9.6] startup
+[4.052s] [ext: omni.kit.actions.core-1.0.0] startup
+[4.054s] [ext: omni.kit.usd_undo-0.1.8] startup
+[4.055s] [ext: omni.kit.exec.core-0.13.4] startup
+[4.056s] [ext: omni.kit.commands-1.4.10] startup
+[4.060s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[4.065s] [ext: omni.activity.core-1.0.3] startup
+[4.066s] [ext: omni.resourcemonitor-107.0.1] startup
+[4.070s] [ext: omni.timeline-1.0.14] startup
+[4.073s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[4.076s] [ext: usdrt.scenegraph-7.6.1] startup
+[4.121s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[4.123s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[4.135s] [ext: omni.hydra.scene_delegate-0.3.4] startup
+[4.142s] [ext: omni.usd-1.13.10] startup
+[4.171s] [ext: omni.kit.asset_converter-5.0.17] startup
+[4.185s] [ext: omni.index.libs-380600.8087.0] startup
+[4.185s] [ext: omni.volume-0.5.2] startup
+[4.188s] [ext: omni.ujitso.client-0.0.0] startup
+[4.189s] [ext: omni.index-1.0.1] startup
+[4.189s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[4.191s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-07-23T20:27:18Z [4,174ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[4.234s] [ext: omni.kit.notification_manager-1.0.10] startup
+[4.236s] [ext: omni.kit.clipboard-1.0.5] startup
+[4.237s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
+[4.240s] [ext: omni.kit.raycast.query-1.1.0] startup
+[4.247s] [ext: omni.kit.menu.core-1.1.2] startup
+[4.247s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[4.250s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[4.252s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[4.253s] [ext: omni.kit.widget.context_menu-1.2.5] startup
+[4.254s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[4.254s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
+[4.261s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[4.262s] [ext: omni.kit.usd.layers-2.2.11] startup
+[4.270s] [ext: omni.ui.scene-1.11.5] startup
+[4.275s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[4.276s] [ext: omni.kit.window.filepicker-2.13.4] startup
+[4.290s] [ext: omni.kit.menu.utils-2.0.5] startup
+[4.300s] [ext: omni.kit.context_menu-1.8.6] startup
+[4.302s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
+[4.308s] [ext: omni.kit.hydra_texture-1.4.6] startup
+[4.313s] [ext: omni.kit.window.file_importer-1.1.18] startup
+[4.316s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[4.317s] [ext: omni.kit.window.drop_support-1.0.5] startup
+[4.318s] [ext: omni.kit.widget.viewport-107.1.3] startup
+[4.322s] [ext: omni.kit.material.library-2.0.7] startup
+[4.328s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[4.331s] [ext: omni.kit.widget.settings-1.2.6] startup
+[4.333s] [ext: omni.kit.viewport.window-107.2.0] startup
+[4.350s] [ext: omni.kit.window.preferences-1.8.0] startup
+[4.355s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[4.360s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[4.360s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[4.365s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[4.369s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[4.370s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[4.372s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[4.373s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[4.374s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[4.375s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[4.382s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[4.385s] [ext: omni.kit.widget.filter-1.1.4] startup
+[4.386s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[4.388s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[4.389s] [ext: omni.fabric.commands-1.1.6] startup
+[4.391s] [ext: omni.kit.window.file_exporter-1.0.33] startup
+[4.392s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[4.394s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[4.395s] [ext: omni.debugdraw-0.1.4] startup
+[4.399s] [ext: omni.kit.widget.stage-3.1.4] startup
+[4.412s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[4.413s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[4.413s] [ext: omni.kvdb-107.3.26] startup
+[4.415s] [ext: omni.convexdecomposition-107.3.26] startup
+[4.420s] [ext: omni.physx.foundation-107.3.26] startup
+[4.422s] [ext: omni.localcache-107.3.26] startup
+[4.424s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[4.424s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[4.425s] [ext: omni.kit.stage_template.core-1.1.22] startup
+[4.425s] [ext: omni.usdphysics-107.3.26] startup
+[4.428s] [ext: omni.kit.window.file-2.0.5] startup
+[4.431s] [ext: omni.physx.cooking-107.3.26] startup
+[4.435s] [ext: omni.physics-107.3.26] startup
+[4.438s] [ext: omni.kit.window.property-1.12.1] startup
+[4.441s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[4.452s] [ext: omni.physx-107.3.26] startup
+[4.465s] [ext: omni.physics.stageupdate-107.3.26] startup
+[4.468s] [ext: omni.kit.property.usd-4.5.12] startup
+[4.479s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[4.480s] [ext: omni.physics.physx-107.3.26] startup
+2026-07-23T20:27:18Z [4,444ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[4.482s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[4.483s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[4.498s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[4.504s] [ext: omni.inspect-1.0.2] startup
+[4.505s] [ext: omni.kit.widget.layers-1.8.6] startup
+[4.516s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[4.517s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[4.525s] [ext: omni.graph.core-2.184.5] startup
+[4.528s] [ext: omni.kit.numpy.common-0.1.3] startup
+[4.530s] [ext: omni.usdphysics.ui-107.3.26] startup
+[4.560s] [ext: omni.physx.commands-107.3.26] startup
+[4.565s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
+[4.566s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-07-23T20:27:18Z [4,534ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[4.572s] [ext: omni.physx.ui-107.3.26] startup
+[4.606s] [ext: isaacsim.core.version-2.0.6] startup
+[4.607s] [ext: omni.physics.tensors-107.3.26] startup
+[4.612s] [ext: omni.warp.core-1.8.2] startup
+[4.807s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[4.809s] [ext: isaacsim.storage.native-1.5.1] startup
+[4.811s] [ext: omni.physx.tensors-107.3.26] startup
+[4.817s] [ext: isaacsim.core.utils-3.5.1] startup
+[4.820s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[6.344s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[6.345s] [ext: omni.kit.widget.text_editor-1.1.1] startup
+[6.347s] [ext: omni.kit.window.stage-2.6.1] startup
+[6.352s] [ext: omni.kit.menu.create-2.0.1] startup
+[6.354s] [ext: omni.kit.window.extensions-1.4.27] startup
+[6.361s] [ext: omni.kit.scripting-107.3.2] startup
+[6.365s] [ext: omni.kit.stagerecorder.core-107.0.3] startup
+[6.369s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[6.369s] [ext: omni.graph.tools-1.79.2] startup
+[6.391s] [ext: omni.ui_query-1.1.8] startup
+[6.392s] [ext: omni.kit.widget.zoombar-1.0.6] startup
+[6.393s] [ext: omni.graph-1.141.2] startup
+[6.437s] [ext: omni.graph.action_core-1.1.7] startup
+[6.439s] [ext: omni.kit.ui_test-1.3.7] startup
+[6.443s] [ext: omni.kit.browser.core-2.3.13] startup
+[6.448s] [ext: omni.kit.usd.collect-2.4.5] startup
+[6.453s] [ext: omni.graph.action_nodes-1.50.4] startup
+[6.458s] [ext: omni.kit.menu.stage-1.2.7] startup
+[6.462s] [ext: omni.kit.browser.folder.core-1.10.9] startup
+[6.474s] [ext: omni.kit.usdz_export-1.0.9] startup
+[6.482s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[6.497s] [ext: omni.graph.action-1.130.0] startup
+[6.503s] [ext: omni.kit.tool.collect-2.2.18] startup
+[6.510s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
+[6.516s] [ext: isaacsim.gui.components-1.2.1] startup
+[6.523s] [ext: isaacsim.examples.browser-0.2.1] startup
+[6.529s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup
+[6.656s] [ext: isaacsim.core.cloner-1.4.10] startup
+[6.677s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup
+[6.686s] [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(
+[6.777s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T20:27:20Z [6,743ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+[6.783s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup
+[6.785s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[6.790s] [ext: omni.kit.widget.graph-2.0.0] startup
+[6.797s] [ext: omni.kit.stage_templates-2.0.0] startup
+[6.801s] [ext: omni.graph.image.core-0.6.1] startup
+[6.803s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
+[6.804s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
+[6.807s] [ext: omni.graph.image.nodes-1.3.1] startup
+[6.811s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[6.813s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[6.816s] [ext: omni.graph.nodes-1.170.10] startup
+[6.827s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[6.833s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[6.837s] [ext: omni.syntheticdata-0.6.13] startup
+[6.871s] [ext: omni.videoencoding-0.1.2] startup
+[6.876s] [ext: omni.warp-1.8.2] startup
+[6.884s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[6.905s] [ext: omni.graph.scriptnode-1.50.0] startup
+[6.910s] [ext: isaacsim.core.prims-0.6.1] startup
+[6.949s] [ext: isaacsim.test.docstring-1.1.0] startup
+[6.965s] [ext: omni.replicator.core-1.12.27] startup
+2026-07-23T20:27:21Z [7,114ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T20:27:21Z [7,114ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T20:27:21Z [7,116ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[7.158s] [ext: isaacsim.core.api-4.8.0] startup
+[7.226s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[7.285s] [ext: isaacsim.core.nodes-3.4.3] startup
+[7.297s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[7.313s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[7.333s] [ext: omni.sensors.nv.common-3.0.0] startup
+[7.367s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[7.389s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[7.413s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[7.424s] [ext: omni.sensors.net-1.0.0] startup
+[7.455s] [ext: isaacsim.app.about-2.0.11] startup
+[7.463s] [ext: isaacsim.simulation_app-2.12.2] startup
+[7.463s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[7.467s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[7.477s] [ext: omni.kit.property.audio-1.0.16] startup
+[7.484s] [ext: omni.kit.property.camera-1.0.10] startup
+[7.488s] [ext: omni.kit.property.geometry-2.0.4] startup
+[7.505s] [ext: omni.hydra.scene_api-0.1.2] startup
+[7.563s] [ext: omni.kit.property.light-1.0.12] startup
+[7.604s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[7.612s] [ext: omni.kit.selection-0.1.6] startup
+[7.622s] [ext: omni.kit.property.material-1.11.9] startup
+[7.724s] [ext: omni.kit.property.transform-1.5.13] startup
+[7.738s] [ext: omni.kit.property.render-1.2.1] startup
+[7.749s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[7.774s] [ext: isaacsim.gui.menu-2.4.4] startup
+[7.901s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[8.130s] [ext: isaacsim.gui.property-1.1.3] startup
+[8.144s] [ext: omni.kit.property.bundle-1.4.1] startup
+[8.156s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[8.199s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[8.241s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[8.303s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[8.334s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[8.349s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[8.360s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[8.366s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[8.393s] [ext: omni.kit.window.console-1.1.4] startup
+[8.410s] [ext: omni.rtx.window.settings-0.6.19] startup
+[8.426s] [ext: omni.ocio-0.1.1] startup
+[8.434s] [ext: omni.physx.demos-107.3.26] startup
+[8.486s] [ext: omni.kit.property.physx-107.3.26] startup
+[8.538s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[8.571s] [ext: omni.asset_validator.core-1.1.6] startup
+[8.676s] [ext: omni.rtx.settings.core-0.6.5] startup
+[8.685s] [ext: omni.physx.vehicle-107.3.26] startup
+[8.715s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[8.737s] [ext: omni.kit.window.script_editor-2.0.1] startup
+[8.743s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[8.753s] [ext: omni.physx.asset_validator-107.3.26] startup
+[8.768s] [ext: omni.kit.window.toolbar-2.0.0] startup
+[8.777s] [ext: omni.physx.camera-107.3.26] startup
+[8.806s] [ext: omni.anim.curve.core-1.3.1] startup
+[8.829s] [ext: omni.physx.cct-107.3.26] startup
+[8.852s] [ext: omni.physx.graph-107.3.26] startup
+[8.884s] [ext: omni.physx.supportui-107.3.26] startup
+[8.929s] [ext: omni.physx.telemetry-107.3.26] startup
+[8.936s] [ext: isaaclab-0.54.3] startup
+[9.292s] [ext: isaaclab_contrib-0.0.2] startup
+[9.294s] [ext: isaacsim.core.throttling-2.2.2] startup
+[9.297s] [ext: omni.kit.ui.actions-1.0.5] startup
+[9.303s] [ext: semantics.schema.property-2.0.1] startup
+[9.307s] [ext: omni.physx.bundle-107.3.26] startup
+[9.311s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[9.316s] [ext: isaaclab_assets-0.2.4] startup
+[9.615s] [ext: isaaclab_tasks-0.11.14] startup
+[9.780s] [ext: omni.kit.menu.common-2.0.1] startup
+[9.783s] [ext: isaaclab_rl-0.5.0] startup
+[9.785s] [ext: isaaclab_mimic-1.0.16] startup
+[9.787s] [ext: isaaclab.python-2.3.2] startup
+[9.791s] Simulation App Starting
+2026-07-23T20:27:24Z [9,834ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T20:27:24Z [9,839ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T20:27:24Z [9,839ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T20:27:24Z [9,839ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T20:27:24Z [9,868ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9
+
+[9.934s] app ready
+2026-07-23T20:27:24Z [10,741ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T20:27:24Z [10,742ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T20:27:24Z [10,742ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T20:27:24Z [10,742ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[14.595s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=4 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=4
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-27-46.log
+======================================================================================
+
+04:27:46 [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      : 4
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T20:27:46Z [32,698ms] [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
+2026-07-23T20:27:47Z [32,799ms] [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.
+2026-07-23T20:27:47Z [32,815ms] [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.
+2026-07-23T20:27:47Z [32,826ms] [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 : 0.450590 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T20:27:47Z [32,841ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [32,848ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [33,324ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [33,324ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [33,327ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [33,328ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [33,328ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+2026-07-23T20:27:47Z [33,328ms] [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:0x555a64ee3d50:World0.usd@ <0x555a64ee4d50>)
+
+[INFO]: Time taken for simulation start : 0.716309 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T20:27:55Z [41,711ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T20:27:56Z [42,213ms] [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
+2026-07-23T20:27:56Z [42,213ms] [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
+2026-07-23T20:27:56Z [42,213ms] [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
+2026-07-23T20:27:56Z [42,213ms] [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
+2026-07-23T20:28:07Z [53,614ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=4
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07224799692630768, -0.18243800103664398, 0.7724999785423279], 'quat': [0.9983839988708496, -9.999999974752427e-07, 0.0, 0.05682399868965149]}, 't1': {'center': [0.08489900082349777, -0.19118300080299377, 0.7724999785423279], 'quat': [0.8232669830322266, 9.999999974752427e-07, 0.0, 0.5676550269126892]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.0722000002861023, -0.18240000307559967, 0.7724999785423279] pick_tcp=[-0.062300000339746475, -0.18129999935626984, 0.7724999785423279] waypoints=39
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
+env0 step: 2 / 400
+env0 step: 3 / 400
+env0 step: 4 / 400
+env0 step: 5 / 400
+env0 step: 6 / 400
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+env0 step: 25 / 400
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+env0 step: 34 / 400
+env0 step: 35 / 400
+env0 step: 36 / 400
+env0 step: 37 / 400
+env0 step: 38 / 400
+env0 step: 39 / 400
+[collect][auto_swap_T] left_stage observed=[-0.09049999713897705, -0.1768999993801117, 0.7738000154495239] target=[-0.19210000336170197, -0.17579999566078186, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=left_stage waypoints=13
+[collect] demo=0 step=40/400
+env0 step: 40 / 400
+env0 step: 41 / 400
+env0 step: 42 / 400
+env0 step: 43 / 400
+env0 step: 44 / 400
+env0 step: 45 / 400
+env0 step: 46 / 400
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+env0 step: 48 / 400
+env0 step: 49 / 400
+env0 step: 50 / 400
+env0 step: 51 / 400
+env0 step: 52 / 400
+[collect][auto_swap_T] captured_left_grasp object_center=[-0.19120000302791595, -0.1695999950170517, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.14910000562667847, -0.00019999999494757503, -0.01549999974668026]
+[collect][auto_swap_T] right_pick label=t1 center=[0.08489999920129776, -0.19120000302791595, 0.7724999785423279] pick_tcp=[0.0885000005364418, -0.1817999929189682, 0.7724999785423279] waypoints=39
+[collect][auto_swap_T] phase=right_pick waypoints=39
+[collect] demo=0 step=53/400
+env0 step: 53 / 400
+env0 step: 54 / 400
+env0 step: 55 / 400
+env0 step: 56 / 400
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+[collect][auto_swap_T] right_stage observed=[0.09529999643564224, -0.18440000712871552, 0.7738999724388123] target=[0.20469999313354492, -0.19789999723434448, 0.7724999785423279] waypoints=14
+[collect][auto_swap_T] phase=right_stage waypoints=14
+[collect] demo=0 step=92/400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.2046000063419342, -0.19789999723434448, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.149399995803833, 0.00019999999494757503, -0.008799999952316284]
+[collect] demo=0 step=106/400
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+[collect][auto_swap_T] right_detour obstacle=[0.08489999920129776, -0.19120000302791595, 0.7724999785423279] waypoint=[0.0949999988079071, -0.009100000374019146, 0.7742999792098999] clearance=0.1824
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.0722000002861023, -0.18240000307559967, 0.7724999785423279] waypoints=54
+[collect][auto_swap_T] phase=right_place waypoints=54
+[collect] demo=0 step=254/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed4_official400.hdf5
+2026-07-23T20:29:50Z [156,744ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T20:29:50Z [156,744ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[157.172s] Simulation App Shutting Down

yzr/swap_T/logs/swap_T_calv8_seed53_official400.log

@@ -0,0 +1,770 @@
+[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_051519.log
+[0.062s] [ext: omni.kit.async_engine-0.0.3] startup
+[0.200s] [ext: omni.metrics.core-0.0.3] startup
+[0.200s] [ext: omni.client.lib-1.1.0] startup
+[0.215s] [ext: omni.blobkey-1.1.2] startup
+[0.215s] [ext: omni.stats-1.0.1] startup
+[0.216s] [ext: omni.datastore-0.0.0] startup
+[0.223s] [ext: omni.client-1.3.0] startup
+[0.228s] [ext: omni.ujitso.default-1.0.0] startup
+[0.229s] [ext: omni.hsscclient-1.1.2] startup
+[0.251s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.253s] [ext: omni.assets.plugins-0.0.0] startup
+[0.255s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.262s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-07-23T21:15:19Z [236ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:19Z [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)
+[0.263s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-07-23T21:15:19Z [323ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-07-23T21:15:19Z [334ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-07-23T21:15:19Z [334ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-07-23T21:15:19Z [334ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-07-23T21:15:19Z [391ms] [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:
+- 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.
+2026-07-23T21:15:20Z [1,004ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:15:20Z [1,004ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:15:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:15:20Z [1,010ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:15:20Z [1,012ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:15:20Z [1,012ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:15:20Z [1,013ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:15:20Z [1,013ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:15:20Z [1,013ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:15:20Z [1,013ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-07-23T21:15:20Z [1,013ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090
+2026-07-23T21:15:20Z [1,013ms] [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      | 4b2bae97.. |
+|     |                                  |        |     |            | 38        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | 477cef4f.. |
+|     |                                  |        |     |            | 5a        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 5090          |        |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | a151c906.. |
+|     |                                  |        |     |            | b8        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 5090          | Yes: 0 |     | 32853   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2b85      | ca69200c.. |
+|     |                                  |        |     |            | c8        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 5.15.0-119-generic
+| Processor: Intel(R) Xeon(R) Platinum 8470Q
+| Bare Metal Cores: 104 | Bare Metal Logical Cores: 208
+| Core Usage Quota: 100
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 368640 | Free Memory: 13748
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+[1.809s] [ext: omni.materialx.libs-1.0.7] startup
+[1.820s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[1.822s] [ext: omni.kit.test-2.0.1] startup
+[1.869s] [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
+[1.992s] [ext: omni.kit.pip_archive-0.0.0] startup
+[1.993s] [ext: omni.mdl-56.0.3] startup
+[2.016s] [ext: omni.iray.libs-0.0.0] startup
+[2.025s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[2.027s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[2.137s] [ext: omni.kit.telemetry-0.5.2] startup
+[2.185s] [ext: omni.appwindow-1.1.10] startup
+2026-07-23T21:15:21Z [2,161ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:21Z [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)
+[2.191s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-07-23T21:15:21Z [2,184ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:21Z [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)
+2026-07-23T21:15:21Z [2,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:21Z [2,194ms] [Warning] [carb] 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.capture-0.0.0] startup
+[2.227s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-07-23T21:15:21Z [2,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:21Z [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)
+2026-07-23T21:15:21Z [2,206ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:21Z [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)
+2026-07-23T21:15:21Z [2,207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:15:21Z [2,207ms] [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)
+[2.328s] [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
+[2.364s] [ext: omni.uiaudio-1.0.0] startup
+[2.365s] [ext: omni.kit.uiapp-0.0.0] startup
+[2.365s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[2.368s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[2.383s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[2.386s] [ext: omni.usd.schema.audio-0.0.0] startup
+[2.390s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[2.393s] [ext: omni.usd.schema.anim-0.0.0] startup
+[2.419s] [ext: omni.usd_resolver-1.0.0] startup
+[2.424s] [ext: omni.usd.core-1.5.3] startup
+[2.428s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[2.452s] [ext: isaacsim.robot.schema-3.6.0] startup
+[2.462s] [ext: omni.usd.schema.physx-107.3.26] startup
+[2.496s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[2.497s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[2.498s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[2.503s] [ext: omni.graph.exec-0.9.6] startup
+[2.504s] [ext: omni.kit.actions.core-1.0.0] startup
+[2.506s] [ext: omni.kit.usd_undo-0.1.8] startup
+[2.507s] [ext: omni.kit.exec.core-0.13.4] startup
+[2.509s] [ext: omni.kit.commands-1.4.10] startup
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+2026-07-23T21:15:22Z [2,900ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
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+2026-07-23T21:15:22Z [2,987ms] [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!
+  warnings.warn(
+[5.307s] [ext: semantics.schema.editor-2.0.2] startup
+2026-07-23T21:15:24Z [5,290ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
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+2026-07-23T21:15:25Z [5,694ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-07-23T21:15:25Z [5,694ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-07-23T21:15:25Z [5,700ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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+[8.802s] Simulation App Starting
+2026-07-23T21:15:28Z [8,865ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-07-23T21:15:28Z [8,869ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-07-23T21:15:28Z [8,869ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-07-23T21:15:28Z [8,869ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+2026-07-23T21:15:28Z [8,898ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9
+
+[8.960s] app ready
+2026-07-23T21:15:28Z [9,454ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-07-23T21:15:28Z [9,454ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-07-23T21:15:28Z [9,454ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+2026-07-23T21:15:28Z [9,454ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
+[12.800s] Simulation App Startup Complete
+[collect] main entered
+[collect] building env cfg
+[collect] creating eval env
+[collect] eval env ready
+[collect] eval_layout_seed=0 episode_seed_base=53 seed_count=1
+[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0
+[collect] termination_mode=task max_steps=400 task_step_lim=400 min_steps=0
+[collect] reset demo=0 seed=53
+[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_05-15-49.log
+======================================================================================
+
+05:15:49 [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      : 53
+	Physics step-size     : 0.004
+	Rendering step-size   : 0.04
+	Environment step-size : 0.004
+2026-07-23T21:15:50Z [30,656ms] [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
+2026-07-23T21:15:50Z [30,766ms] [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.
+2026-07-23T21:15:50Z [30,782ms] [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.
+2026-07-23T21:15:50Z [30,797ms] [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 : 0.468574 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	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...
+2026-07-23T21:15:50Z [30,811ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [30,818ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [31,331ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [31,332ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [31,335ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [31,335ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [31,335ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+2026-07-23T21:15:50Z [31,336ms] [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:0x55a96ffd7790:World0.usd@ <0x55a96ffd8790>)
+
+[INFO]: Time taken for simulation start : 0.768654 seconds
+[INFO]: Completed setting up the environment...
+[INFO] Resetting all environments
+2026-07-23T21:16:00Z [40,724ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
+2026-07-23T21:16:03Z [44,620ms] [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
+2026-07-23T21:16:03Z [44,620ms] [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
+2026-07-23T21:16:03Z [44,620ms] [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
+2026-07-23T21:16:03Z [44,620ms] [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
+2026-07-23T21:16:11Z [52,559ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[collect][auto_swap_T] reset demo=0 seed=53
+[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.05991800129413605, -0.16127599775791168, 0.7724999785423279], 'quat': [0.15067900717258453, -9.999999974752427e-07, -0.0, 0.9885830283164978]}, 't1': {'center': [0.05510599911212921, -0.19476699829101562, 0.7724999785423279], 'quat': [0.3243269920349121, -0.0, -0.0, 0.9459450244903564]}}
+[collect][auto_swap_T] left_pick label=t0 center=[-0.05990000069141388, -0.16130000352859497, 0.7724999785423279] pick_tcp=[-0.06949999928474426, -0.1582999974489212, 0.7724999785423279] waypoints=40
+[collect] demo=0 step=1/400
+env0 step: 1 / 400
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+[collect][auto_swap_T] left_stage observed=[-0.07660000026226044, -0.15539999306201935, 0.7738999724388123] target=[-0.17509999871253967, -0.12770000100135803, 0.7724999785423279] waypoints=13
+[collect][auto_swap_T] phase=left_stage waypoints=13
+[collect] demo=0 step=41/400
+env0 step: 41 / 400
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+[collect][auto_swap_T] captured_left_grasp object_center=[-0.17339999973773956, -0.125, 0.7738999724388123] lifted=0.0014 ee_to_object_pos=[0.14959999918937683, -0.00019999999494757503, 0.009200000204145908]
+[collect][auto_swap_T] right_pick label=t1 center=[0.05510000139474869, -0.19480000436306, 0.7724999785423279] pick_tcp=[0.047200001776218414, -0.18860000371932983, 0.7724999785423279] waypoints=40
+[collect][auto_swap_T] phase=right_pick waypoints=40
+[collect] demo=0 step=54/400
+env0 step: 54 / 400
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+[collect][auto_swap_T] right_stage observed=[0.06530000269412994, -0.19470000267028809, 0.7728000283241272] target=[0.17030000686645508, -0.22830000519752502, 0.7724999785423279] waypoints=14
+[collect][auto_swap_T] phase=right_stage waypoints=14
+[collect] demo=0 step=94/400
+env0 step: 94 / 400
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+[collect][auto_swap_T] captured_right_grasp object_center=[0.1712000072002411, -0.22779999673366547, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.1492999941110611, -0.0, -0.016499999910593033]
+[collect] demo=0 step=108/400
+env0 step: 108 / 400
+[collect] demo=0 step=109/400
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+[collect] demo=0 step=113/400
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+[collect] demo=0 step=127/400
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+[collect] demo=0 step=147/400
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+[collect] demo=0 step=167/400
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+[collect] demo=0 step=178/400
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+[collect] demo=0 step=182/400
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+[collect] demo=0 step=183/400
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+[collect] demo=0 step=187/400
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+[collect] demo=0 step=197/400
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+[collect][auto_swap_T] right_detour obstacle=[0.05510000139474869, -0.19480000436306, 0.7724999785423279] waypoint=[0.007499999832361937, -0.3582000136375427, 0.7735000252723694] clearance=0.1703
+[collect][auto_swap_T] right_feedback_prepare target_object=[-0.05990000069141388, -0.16130000352859497, 0.7724999785423279] waypoints=49
+[collect][auto_swap_T] phase=right_place waypoints=49
+[collect] demo=0 step=206/400
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+[collect] demo=0 step=255/400
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+[collect] demo=0 step=259/400
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+[collect] demo=0 step=260/400
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+[collect] demo=0 step=264/400
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+[collect] demo=0 step=265/400
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+[collect] demo=0 step=274/400
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+[collect] demo=0 step=279/400
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+[collect] demo=0 step=287/400
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+[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_calv8_seed53_official400.hdf5
+2026-07-23T21:17:39Z [139,971ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-07-23T21:17:39Z [139,971ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[140.740s] Simulation App Shutting Down